WO2015151583A1 - Mine management system - Google Patents
Mine management system Download PDFInfo
- Publication number
- WO2015151583A1 WO2015151583A1 PCT/JP2015/053429 JP2015053429W WO2015151583A1 WO 2015151583 A1 WO2015151583 A1 WO 2015151583A1 JP 2015053429 W JP2015053429 W JP 2015053429W WO 2015151583 A1 WO2015151583 A1 WO 2015151583A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- machine
- ore
- loading
- mine
- loading machine
- Prior art date
Links
- 238000005065 mining Methods 0.000 claims abstract description 47
- 238000004519 manufacturing process Methods 0.000 claims description 84
- 230000001133 acceleration Effects 0.000 claims description 35
- 238000009412 basement excavation Methods 0.000 claims description 30
- 238000012423 maintenance Methods 0.000 claims description 30
- 238000005265 energy consumption Methods 0.000 claims description 5
- 230000001629 suppression Effects 0.000 claims description 4
- 230000032258 transport Effects 0.000 description 137
- 238000007726 management method Methods 0.000 description 77
- 238000012545 processing Methods 0.000 description 74
- 238000003860 storage Methods 0.000 description 61
- 230000002093 peripheral effect Effects 0.000 description 47
- 238000003384 imaging method Methods 0.000 description 38
- 238000004891 communication Methods 0.000 description 30
- 238000010586 diagram Methods 0.000 description 30
- 230000007246 mechanism Effects 0.000 description 26
- 238000001514 detection method Methods 0.000 description 25
- 239000003990 capacitor Substances 0.000 description 24
- 230000006870 function Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 14
- 230000000149 penetrating effect Effects 0.000 description 13
- 230000035515 penetration Effects 0.000 description 11
- 238000012544 monitoring process Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 9
- 239000011435 rock Substances 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 239000010720 hydraulic oil Substances 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 5
- 238000007599 discharging Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005856 abnormality Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 4
- 239000012141 concentrate Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005007 materials handling Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C37/00—Other methods or devices for dislodging with or without loading
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/22—Methods of underground mining; Layouts therefor for ores, e.g. mining placers
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/02—Transport of mined mineral in galleries
- E21F13/025—Shuttle cars
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
Definitions
- the present invention relates to a mine management system.
- Patent Document 1 describes a working machine that moves a tunnel while holding a drilled ore in a bucket after a vehicle that excavates ore with a bucket enters the tunnel and excavates the ore.
- An object of an aspect of the present invention is to provide a mine management system capable of smoothly performing work in a production system according to a request.
- aspects of the present invention include a transport machine that travels by loading ore from a mining site to a discharge site in a mine, a loading machine that mines the ore at the mining site and loads the ore into the transport machine, and an input signal
- the management system of the mine provided with the management apparatus which sets the operation mode in the said mine based on this and changes the operation parameter of the said transport machine and the operation parameter of the said loading machine is provided.
- the work can be smoothly performed in the production system according to the request.
- FIG. 1 is a mimetic diagram showing an example of the field where the conveyance machine and loading machine concerning this embodiment operate.
- FIG. 2 is a schematic diagram showing an example of a mine and a mining system.
- FIG. 3 is an enlarged view of a part of FIG.
- FIG. 4 is a diagram showing excavation of ore from the natural ground by the loading machine and loading of the ore into the transporting machine.
- FIG. 5 is a diagram illustrating excavation of ore from the natural ground by the loading machine and loading of the ore into the transporting machine.
- FIG. 6 is an example of a functional block diagram of a management device provided in the mine management system.
- FIG. 7 is a perspective view of the transport machine according to the present embodiment.
- FIG. 8 is a side view of the transport machine according to the present embodiment.
- FIG. 9 is a diagram illustrating a support structure of a vessel provided in the transport machine according to the present embodiment.
- FIG. 10 is a top view of the transport machine according to the present embodiment.
- FIG. 11 is a diagram illustrating a state where the transport machine according to the present embodiment tilts the vessel.
- FIG. 12 is an example of a block diagram illustrating a control device included in the transport machine.
- FIG. 13 is a side view of the loading machine according to the present embodiment.
- FIG. 14 is a top view of the loading machine according to the present embodiment.
- FIG. 15 is a front view of the loading machine according to the present embodiment.
- FIG. 16 is a diagram illustrating a posture when the loading machine according to the present embodiment travels.
- FIG. 17 is an example of a block diagram illustrating a control device included in the loading machine according to the present embodiment.
- FIG. 18 is a diagram illustrating an example of a capacitor handling device provided in the mining system of the mine according to the present embodiment.
- FIG. 19 is a diagram illustrating a direction in which the transport machine advances drift in the mine in the mining system according to the present embodiment.
- FIG. 20 is a diagram illustrating the relationship between the work mode and the mine productivity according to the present embodiment.
- FIG. 21 is a diagram for explaining an example of work parameters of the transport machine according to the present embodiment.
- FIG. 22 is a diagram for explaining an example of work parameters of the transport machine according to the present embodiment.
- FIG. 23 is a diagram for explaining an example of work parameters of the transport machine according to the present embodiment.
- FIG. 24 is a diagram for explaining an example of the relationship between the work mode according to the present embodiment and the work parameters of the transport machine.
- FIG. 25 is a flowchart illustrating an example of processing of the management
- one direction in the predetermined plane is the X axis direction
- a direction orthogonal to the X axis direction in the predetermined plane is the Y axis direction
- a direction orthogonal to each of the X axis direction and the Y axis direction is the Z axis direction.
- the positional relationship of each part is demonstrated suitably.
- the direction of gravity action is referred to as the downward direction
- the direction opposite to the direction of gravity action is referred to as the upward direction.
- Mine productivity includes mining cost ($ / t) per unit weight of ore to be mined and mining amount (t / h) per unit time.
- t is the mining amount
- h is the time
- $ is the cost.
- FIG. 1 is a schematic diagram illustrating an example of a site where the transport machine 10 and the loading machine 30 according to the present embodiment operate.
- the transporting machine 10 and the loading machine 30 are used for underground mining for mining ore from underground.
- the transport machine 10 is a type of work machine that transports a load in the mine shaft R
- the load machine 30 is a type of work machine that loads a load on the transport machine 10.
- ore is mined by the block caving method.
- the block caving method is the installation of an ore MR mining site (draw point) DP and a mine channel R for transporting the mined ore MR in the ore body (or vein) MG of the mine M, and the upper part of the draw point DP.
- the draw point DP is installed inside the ore body MG or below the ore body MG.
- the block caving method is a method that utilizes the property that a fragile rock starts to naturally collapse when the lower part of the bedrock or ore body is undercut.
- the ore MR When the ore MR is mined from inside or below the ore body MG, the collapse propagates to the upper part. For this reason, when the block caving method is used, the ore MR of the ore body MG can be mined efficiently. In the block caving method, a plurality of draw points DP are often provided.
- the management device 3 is arranged on the ground.
- the management device 3 is installed in a management facility on the ground. In principle, the management device 3 does not consider movement.
- the management device 3 manages the mining site.
- the management device 3 can communicate with work machines in the mine including the transporting machine 10 and the loading machine 30 via a communication system including the wireless communication device 4 and the antenna 4A.
- the transport machine 10 and the loading machine 30 are work machines that operate unattended.
- the transporting machine 10 and the loading machine 30 may be manned work machines that are operated by an operator's operation.
- FIG. 2 is a schematic diagram illustrating an example of the underground mine MI and the mine management system 1 according to the present embodiment.
- FIG. 3 is an enlarged view of a part of FIG.
- the mine shaft R installed below the mine MG includes a first mine shaft DR and a second mine shaft CR.
- the mine shaft R is installed, for example, inside the ore body MG or below the ore body M.
- the underground mine MI there are a plurality of first and second tunnels DR and CR, respectively.
- the second tunnel CR connects each draw point DP and the first tunnel DR.
- the loading machine 30 can approach the draw point DP through the second mine tunnel CR.
- the mine shaft R includes a third mine shaft TR.
- a plurality (two in this example) of third tunnels TR are connected to a plurality of first tunnels DR.
- the first mine shaft DR is appropriately referred to as a drift DR
- the second mine shaft CR is appropriately referred to as a cross-cut CR
- the third mine shaft TR is appropriately referred to as an outer periphery TR.
- two outer circumferential paths TR are installed in the underground mine MI.
- the cross cut CR is divided by the draw point DP.
- Each outer periphery TR is not divided by the draw point DP.
- One outer peripheral path TR connects one end of each of the plurality of drifts DR, and the other outer peripheral path TR connects the other end of each of the plurality of drifts DR.
- all the drifts DR are connected to the two outer peripheral paths TR.
- the transport machine 10 and the loading machine 30 can enter from one outer circumferential path TR regardless of which drift DR.
- the transport machine 10 and the loading machine 30 travel in the direction of the arrow FC in the drift DR.
- the loading position LP where the loading operation by the loading machine 30 to the transporting machine 10 is performed is determined at the crosscut CR or in the vicinity thereof.
- an area including the draw point DP and the loading position LP is appropriately referred to as a loading place LA.
- the underground mine MI is provided with a soil removal place (or pass) OP from which ore MR as a load transported by the transporting machine 10 is discharged.
- a soil removal place (or pass) OP from which ore MR as a load transported by the transporting machine 10 is discharged.
- the transporting machine 10 includes an electric motor for traveling and a capacitor that supplies electric power to the electric motor.
- a space SP is connected to the outer circumferential path TR.
- a capacitor exchange device EX for replacing a capacitor mounted on the transporting machine 10 is installed.
- the road surface of the mine shaft R on which the transporting machine 10 travels and the XY plane are substantially parallel.
- the road surface of the mine shaft R is often uneven or has an uphill and a downhill.
- the mine management system 1 includes a management device 3 and an antenna 4A for wireless communication.
- the management device 3 manages the operation of the transporting machine 10 and the loading machine 30 that operate in the underground mine MI, for example.
- the management of the operation includes allocation of the transporting machine 10 and the loading machine 30, collection of information (operation information) regarding the operating state of the transporting machine 10 and the loading machine 30, and management thereof.
- the operation information includes, for example, the operation time of the transporting machine 10 and the loading machine 30, the travel distance, the travel speed, the remaining capacity of the battery, the presence / absence of an abnormality, the location of the abnormality, and the loading capacity.
- the operation information is mainly used for operation evaluation, preventive maintenance, and abnormality diagnosis of the transport machine 10 and the loading machine 30. Therefore, the operation information is useful in order to meet the needs for improving the productivity of the mine M or improving the operation of the mine.
- the management device 3 includes a communication device.
- the wireless communication device 4 including the antenna 4A is connected to the communication device of the management device 3.
- the management device 3 can transmit information between the transport machine 10 and the loading machine 30 operating in the underground mine MI via the communication device, the wireless communication device 4, and the antenna 4A.
- the loading machine 30 travels with a traveling motor, and drives the stirrer with the motor to excavate the ore MR.
- a feeding cable 5 that supplies electric power to these electric motors from the outside of the loading machine 30 is provided in the mine channel R of the mine MI.
- the loading machine 30 is supplied with power from the power feeding cable 5 via, for example, a power feeding connector 6 as a power supply device provided in the loading place LA and a power cable 7 from the loading machine 30.
- the electric power supply apparatus should just be provided in any one of drift DR or crosscut CR.
- the loading machine 30 may perform at least one of traveling and excavation with electric power supplied from the outside.
- the loading machine 30 may be equipped with a capacitor, and may receive at least one of traveling and excavation by receiving power supply from the capacitor. Further, the loading machine 30 may be equipped with a capacitor, and may receive at least one of traveling and excavation by receiving power supply from the capacitor. That is, the loading machine 30 performs at least one of traveling and excavation with at least one of electric power supplied from the outside and electric power supplied from the battery. For example, the loading machine 30 can perform excavation with electric power supplied from the outside and can travel with electric power supplied from the storage battery. Further, when traveling in the crosscut CR, the loading machine 30 may travel with electric power supplied from the outside.
- the loading machine 30 may excavate the ore MR by driving a hydraulic pump with an electric motor to generate hydraulic pressure and driving the hydraulic motor with this hydraulic pressure.
- the loading machine 30 may be provided with an electric storage device, run by electric power supplied from the electric storage device, and excavate.
- the connection between the power supply cable 5 and the power cable 7 from the loading machine 30 is not limited to the connector 6.
- an electrode provided on the tunnel R side and connected to the power supply cable 5 and an electrode connected to the power cable 7 from the loading machine 30 side are used as a power supply device, and both electrodes are brought into contact with each other.
- power may be supplied from the feeding cable 5 to the loading machine 30. If it does in this way, even if the positioning accuracy of both electrodes is low, both can be contacted and electric power can be supplied to loading machine 30.
- the loading machine 30 shall operate
- the loading machine 30 may be, for example, one that travels by an internal combustion engine or excavates the ore MR. In this case, the loading machine 30 drives a hydraulic pump by an internal combustion engine, and travels by driving a hydraulic motor, a hydraulic cylinder, or the like with hydraulic oil discharged from the hydraulic pump, or excavates the ore MR. Or you may.
- FIGS. 4 and 5 are diagrams showing excavation of the ore MR of the natural ground RM by the loading machine 30 and loading of the ore MR into the transporting machine 10.
- a natural ground RM of the ore MR is formed at the draw point DP of the loading place LA.
- the loading machine 30 is installed in the crosscut CR at the loading place LA, and the tip portion penetrates into the natural ground RM of the ore MR to excavate it.
- the loading machine 30 loads the excavated ore MR on the transporting machine 10 that is on the opposite side of the natural ground RM and is waiting in the drift DR.
- a power supply cable 5 for supplying power to the loading machine 30 is provided.
- the loading machine 30 includes a vehicle body 30 ⁇ / b> B, a feeder 31 as a conveying device, a rotating roller 33 as an excavating device, a support mechanism 32 that supports the rotating roller 33, and a traveling device. 34.
- the rotating roller 33 and the support mechanism 32 function as a scraping device that excavates the ore MR and sends it to the feeder 31.
- the support mechanism 32 includes a boom 32a attached to the vehicle body 30B, and an arm 32b that is connected to and swings and supports the rotating roller 33 so as to be rotatable.
- the vehicle body 30 ⁇ / b> B of the loading machine 30 includes a penetrating member 35 that penetrates into the natural ground RM of the ore MR, a rotating body 36, and a rock guard 37.
- the penetration member 35 penetrates the natural ground RM when excavating the ore MR.
- the rotating body 36 rotates when the penetrating member 35 of the loading machine 30 penetrates the natural ground RM, and assists the penetrating.
- the transporting machine 10 includes a vehicle body 10 ⁇ / b> B and a vessel 11.
- the vessel 11 is mounted on the vehicle body 10B.
- the vessel 11 loads the ore MR as a load.
- the vessel 11 moves in the width direction W of the vehicle body 10B, that is, in a direction parallel to the axle, as shown in FIGS.
- the vessel 11 is installed at the center in the width direction of the vehicle body 10B when the transporting machine 10 travels. Further, the vessel 11 moves outward in the width direction of the vehicle body 10B when the ore MR is loaded.
- the transporting machine 10 can bring the vessel 11 closer to the lower part D of the feeder 31 of the loading machine 30, the possibility that the ore MR transported by the feeder 31 falls outside the vessel 11, The ore MR can be reliably dropped into the vessel 11.
- the loading machine 30 excavates the ore MR at the draw point (mining place) DP of the mine MI of the mine M, and conveys the ore MR mined at the draw point DP to the transport machine 10 for loading.
- the transporting machine 10 travels by loading the ore MR from the draw point DP to the ore pass (sinking place) OP of the mine MI.
- the transport machine 10 transports the ore MR to the ore pass OP, and then discharges it to the ore pass OP.
- the loading machine 30 stays in the crosscut CR while leaving the space in which the transporting machine 10 travels in the drift DR, and excavates the ore MR at the draw point DP.
- the loading machine 30 conveys the excavated ore MR in a direction away from the draw point DP and loads it on the transporting machine 10.
- the loading machine 30 does not move in a state where the excavated ore MR is loaded.
- the transport machine 10 loads the ore MR mined at the draw point DP, travels on the drift DR, and transports it to the ore pass OP shown in FIG.
- the mine management system 1 causes the loading machine 30 to perform only excavation and loading of the ore MR and causes the transport machine 10 to transport only the ore MR.
- the functions of both are separated.
- the loading machine 30 can concentrate on excavation work and conveyance work, and the conveyance machine 10 can concentrate on conveyance work. That is, the loading machine 30 may not have the function of transporting the ore MR, and the transporting machine 10 may not have the function of excavating and transporting the ore MR.
- the loading machine 30 can specialize in the function of excavation and conveyance, and the conveyance machine 10 can be specialized in the function of conveyance of the ore MR, each function can be exhibited to the maximum. As a result, the mine management system 1 can improve the productivity of the mine M.
- FIG. 6 is a functional block diagram illustrating an example of the management apparatus 3 according to the present embodiment.
- the management device 3 includes a processing device 3C, a storage device 3M, and an input / output unit (I / O) 3IO.
- a display device 8 as an output device, an input device 9, and a communication device 3R are connected to the input / output unit 3IO of the management device 3.
- the management device 3 is a computer, for example.
- the processing device 3C is, for example, a CPU (Central Processing Unit).
- the storage device 3M is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, a hard disk drive, or the like, or a combination thereof.
- the input / output unit 3IO is used for input / output (interface) of information between the processing device 3C and the display device 8, the input device 9, and the communication device 3R connected to the outside of the processing device 3C.
- the processing device 3C executes processing of the management device 3 such as allocation of the transporting machine 10 and the loading machine 30 and collection of operation information thereof. Processing such as vehicle allocation and collection of operation information is realized by the processing device 3C reading the corresponding computer program from the storage device 3M and executing it.
- the processing device 3C sets the work mode of the underground mine MI based on the input signal generated by the operation of the input device 9.
- the management device 3 changes both the work parameters of the transport machine 10 and the work parameters of the loading machine 30 based on the set work mode.
- the storage device 3M stores various computer programs for causing the processing device 3C to execute various processes.
- the computer program stored in the storage device 3M collects, for example, a computer program for dispatching the transporting machine 10 and the loading machine 30, and operation information of the transporting machine 10 and the loading machine 30.
- the display device 8 is, for example, a liquid crystal display or the like, and displays information necessary for dispatching the transporting machine 10 and the loading machine 30 and collecting operation information.
- the input device 9 is, for example, a keyboard, a touch panel, a mouse, or the like, and inputs information necessary for dispatching the transporting machine 10 and the loading machine 30 and collecting their operation information.
- the communication device 3R is connected to the wireless communication device 4 including the antenna 4A. As described above, the wireless communication device 4 and the antenna 4A are installed in the underground mine MI. The communication device 3R and the wireless communication device 4 are connected by wire.
- the communication device 3R and the transport machine 10 and the loading machine 30 in the underground mine MI can communicate with each other by, for example, a wireless LAN (Local Aria Network). Next, the transporting machine 10 will be described in more detail.
- FIG. 7 is a perspective view illustrating an example of the transport machine 10 according to the present embodiment.
- FIG. 8 is a side view of the transport machine 10 according to the present embodiment.
- the transporting machine 10 includes a vehicle body 10B, a vessel 11, and wheels 12A and 12B. Further, the transporting machine 10 includes a power storage device 14 as a power storage device, an antenna 15, imaging devices 16A and 16B, and non-contact sensors 17A and 17B.
- the wheels 12A and 12B are attached to the front and rear of the vehicle body 10B, respectively. In the present embodiment, the wheels 12A and 12B are driven by electric motors 13A and 13B mounted in the vehicle body 10B shown in FIG.
- all the wheels 12A and 12B are driving wheels.
- the wheels 12A and 12B are respectively steered wheels.
- the wheels 12A and 12B are, for example, solid tires.
- the transporting machine 10 can travel in any of the direction from the wheel 12A to the wheel 12B and the direction from the wheel 12B to the wheel 12A.
- the wheels 12A and 12B are not limited to solid tires, and may be pneumatic tires, for example. Further, only one of the wheels 12A and 12B may be a drive wheel.
- both the wheel 12A and the wheel 12B can function as steering wheels
- the transport machine 10 advances so that the wheel 12A is the front wheel and the wheel 12B is the rear wheel
- only the wheel 12A (front wheel) is steered.
- the wheel 12B (rear wheel) may not be steered, only the wheel 12B (rear wheel) may be steered and the wheel 12A (front wheel) may not be steered, the wheel 12A (front wheel) and the wheel 12B (rear wheel) ) May be steered.
- the wheel 12A and the wheel 12B may be steered in the same phase direction, or the wheel 12A and the wheel 12B may be steered in the opposite phase direction.
- the vehicle By steering the wheels 12A and 12B in the same phase direction, for example, the vehicle can stably travel during high-speed turning.
- the turning radius can be reduced by steering the wheel 12A and the wheel 12B in the opposite phase direction.
- the transport machine 10 advances so that the wheel 12B is the front wheel and the wheel 12A is the rear wheel.
- the vessel 11 is mounted above the vehicle body 10B and supported by the vehicle body 10B.
- a battery 14 for supplying electric power to the electric motors 13A and 13B is mounted on the vehicle body 10B.
- the external shape of the battery 14 is a rectangular parallelepiped shape.
- One battery 14 is mounted before and after the vehicle body 10B. By doing in this way, since the balance of the mass of front and back becomes close
- the battery 14 is detachably mounted on the vehicle body 10B.
- the electric motors 13 ⁇ / b> A and 13 ⁇ / b> B and the electronic device included in the transport machine 10 are operated by the electric power supplied from the battery 14.
- the transport machine 10 is electrically driven, but the internal combustion engine may be a power source.
- An antenna 15, imaging devices 16A and 16B, and non-contact sensors 17A and 17B are attached to the vehicle body 10B.
- the antenna 15 wirelessly communicates with the management device 3 via the antenna 4A and the communication device 3R illustrated in FIG.
- the imaging devices 16A and 16B photograph the load loaded on the vessel 11, that is, the state (packing state) of the ore MR shown in FIGS. 3 and 4 in this embodiment.
- the imaging devices 16A and 16B may be, for example, cameras that capture visible light or infrared cameras that capture infrared light.
- the imaging devices 16A and 16B are attached to the tips of support columns 16AS and 16BS attached to the upper surface of the vehicle body 10B, respectively. With such a structure, each of the imaging devices 16 ⁇ / b> A and 16 ⁇ / b> B can image the entire vessel 11 from above, so that the state of the ore MR loaded on the vessel 11 can be reliably imaged.
- Non-contact sensors 17A and 17B are attached to the front and rear of the vehicle body 10B, respectively.
- the non-contact sensors 17A and 17B detect an object existing around the transport machine 10, particularly on the traveling direction side, in a non-contact manner.
- radar devices are used as the non-contact sensors 17A and 17B.
- the non-contact sensors 17A and 17B can emit a radio wave or an ultrasonic wave, receive a radio wave reflected by the object, and detect a relative distance and direction from the object.
- the non-contact sensors 17A and 17B are not limited to radar devices.
- the non-contact sensors 17A and 17B may include at least one of a laser scanner and a three-dimensional distance sensor, for example.
- the transporting machine 10 includes peripheral monitoring cameras 17CA and 17CB as imaging devices before and after the vehicle body 10B.
- the peripheral monitoring cameras 17CA and 17CB image the periphery of the vehicle body 10B, particularly the front, and detect the shape of an object existing around the vehicle body 10B.
- the vehicle body 10B has a recess 10BU between the front and rear.
- Recess 10BU is arranged between wheel 12A and wheel 12B.
- the vessel 11 is a member on which ore MR as a load is loaded by the loading machine 30. At least a part of the vessel 11 is disposed in the recess 10BU.
- a part of the vehicle body 10B disposed on one side of the center portion AX of the vehicle body 10B and a part of the vehicle body 10B disposed on the other side in the front-rear direction of the vehicle body 10B are symmetric (front-back symmetry). Further, in the front-rear direction of the vehicle body 10B, a part of the vessel 11 arranged on one side of the center part AX of the vehicle body 10B and a part of the vessel 11 arranged on the other side are symmetrical (front-rear object). Further, the vehicle body 10B and the vessel 11 are symmetric (laterally symmetric) with respect to the central axis in the front-rear direction of the vehicle body 10B in plan view.
- the vessel 11 includes a bottom surface 11B and four side surfaces 11SF, 11SR, 11SA, and 11SB connected to the bottom surface 11B.
- the side surfaces 11SA and 11SB stand up vertically from the bottom surface 11B.
- the side surfaces 11SF and 11SR are inclined toward the wheels 12A and 12B, respectively, with respect to the bottom surface 11B.
- a recess 11U is formed by the bottom surface 11B and the four side surfaces 11SF, 11SR, 11SA, and 11SB. Ore MR as a load is loaded in the recess 11U.
- the recess 10BU of the vehicle body 10B has a shape along the outer shape of the vessel 11.
- FIG. 9 is a diagram illustrating a support structure of the vessel 11 provided in the transport machine 10 according to the present embodiment.
- FIG. 10 is a top view of the transport machine 10 according to the present embodiment.
- FIG. 11 is a diagram illustrating a state in which the transport machine 10 according to the present embodiment tilts the vessel.
- the vessel 11 is placed on the upper surface of the table 11T via a hydraulic cylinder (hoist cylinder) 11Cb as an actuator for moving the vessel 11 up and down.
- a hydraulic cylinder (hoist cylinder) 11Cb as an actuator for moving the vessel 11 up and down.
- the table 11T is supported by the vehicle body 10B via a pair of support bodies 11R and 11R provided on the upper surface of the recess 10BU of the vehicle body 10B.
- the support 11R is a rod-like member extending in the width direction of the vehicle body 10B.
- Each support 11R, 11R is fitted in a pair of grooves 11TU, 11TU provided in a portion of the table 11T facing the vehicle body 10B.
- the grooves 11TU and 11TU are provided in the direction in which the support 11R extends, that is, in the width direction of the vehicle body 10B.
- the table 11T moves along the supports 11R and 11R. That is, the table 11T can move in the width direction of the vehicle body 10B of the transporting machine 10.
- a hydraulic cylinder (slide cylinder) 11Ca is attached between the table 11T and the vehicle body 10B as an actuator for moving the table 11T in the width direction of the vehicle body 10B.
- the hydraulic cylinder 11Ca expands and contracts, the table 11T moves to both sides in the width direction of the vehicle body 10B. Since the vessel 11 is attached to the table 11T, as shown in FIG. 10, the vessel 11 can also move to both sides in the width direction W of the vehicle body 10B together with the table 11T.
- the vessel 11 moves to the loading machine 30 side as shown in FIG. By doing in this way, the conveyance machine 10 can load the ore MR on the vessel 11 reliably. Further, when the ore MR is loaded on one side of the vessel 11, the transporting machine 10 reciprocates the vessel 11 in the width direction of the vehicle body 10 ⁇ / b> B to disperse the ore MR over the entire vessel 11, and the ore MR. Can be suppressed.
- FIG. 11 shows a state where the hydraulic cylinder 11Cb is extended and the vessel 11 is tilted. As shown in FIG. 11, the vessel 11 swings about an axis Zb on one side in the width direction W of the vehicle body 10B.
- the axis Zb is included in the table 11T and is parallel to the front-rear direction of the vehicle body 10B.
- the hydraulic cylinder 11Cb extends, the vessel 11 becomes higher on the side opposite to the axis Zb and protrudes from the recess 10BU of the vehicle body 10B.
- the vessel 11 is inclined, the lid 11CV on the axis Zb side is opened, and the ore MR is discharged from the axis Zb side.
- the hydraulic cylinder 11Cb contracts, the vessel 11 is received in the recess 10BU of the vehicle body 10B.
- the lid 11CV is interlocked with the operation in which the vessel 11 moves up and down by a link mechanism (not shown).
- the vessel 11 swings about only the axis Zb existing on one side in the width direction W of the vehicle body 10B, but is not limited to this.
- the vessel 11 may swing about another axis that is present on the other side and parallel to the longitudinal direction of the vehicle body 10B in addition to the axis Zb on one side of the vehicle body 10B. In this way, the transporting machine 10 can discharge the ore MR from both sides in the width direction W of the vehicle body 10B.
- FIG. 12 is an example of a block diagram illustrating the control device 70 provided in the transport machine 10.
- the control device 70 included in the transport machine 10 controls the travel of the transport machine 10 and the movement and elevation of the vessel 11 in the width direction.
- the control device 70 includes a processing device 71 and a storage device 72.
- the processing device 71 includes imaging devices 16A and 16B, non-contact sensors 17A and 17B, peripheral monitoring cameras 17CA and 17CB, a mass sensor 18, a reading device 19, a range sensor 20, a gyro sensor 21, a speed sensor 22, and an acceleration sensor 23.
- the drive control device 24, the communication device 25, the storage device 72, and the like are connected.
- the imaging devices 16A and 16B and the peripheral monitoring cameras 17CA and 17CB include an image sensor such as a CCD or a CMOS, and can acquire an optical image of an object and detect the outer shape of the object.
- at least one of the imaging devices 16A and 16B and the peripheral monitoring cameras 17CA and 17CB includes a stereo camera, and can acquire three-dimensional outline data of an object.
- the imaging devices 16A and 16B and the surrounding monitoring cameras 17CA and 17CB output the captured results to the processing device 71.
- the processing device 71 acquires the detection results of the imaging devices 16A and 16B, and acquires information related to the state of the ore MR in the vessel 11 based on the detection results.
- the outer shape of the ore MR loaded on the vessel 11 may be detected using at least one of a laser scanner and a three-dimensional distance sensor.
- the non-contact sensors 17A and 17B are connected to the processing device 71 and output the detection result to the processing device 71.
- the non-contact sensors 17A and 17B output the acquired results to the processing device 71.
- the mass sensor 18 detects the mass of the vessel 11 and the ore MR loaded on the vessel 11. Since the mass of the vessel 11 is known in advance, the mass of the ore MR loaded on the vessel 11 can be obtained by subtracting the mass of the vessel 11 from the detection result of the mass sensor 18.
- the mass sensor 18 is connected to the processing device 71 and outputs a detection result to the processing device 71.
- the processing device 71 Based on the detection result of the mass sensor 18, the processing device 71 obtains information on the mass of the ore MR loaded on the vessel 11 and whether or not the ore MR is loaded on the vessel 11.
- the mass sensor 18 may be, for example, a strain gauge type load cell provided between the vessel 11 and the table 11T, or may be a pressure sensor that detects the hydraulic pressure of the hydraulic cylinder 11Cb.
- the reading device 19 detects the identification information (unique information) of the mark provided in the drift DR.
- a plurality of marks are arranged along the drift DR.
- the mark may be an identifier (code) such as a barcode and a two-dimensional code, or may be an identifier (tag) such as an IC tag or RFID.
- the reading device 19 is connected to the processing device 71 and outputs a detection result to the processing device 71.
- the range sensor 20 is attached to the outside of the vehicle body 10B of the transporting machine 10, for example, forward and rearward, and acquires and outputs physical shape data of the space around the transporting machine 10.
- the gyro sensor 21 detects the direction (direction change amount) of the transport machine 10 and outputs the detection result to the processing device 71.
- the speed sensor 22 detects the traveling speed of the transport machine 10 and outputs the detection result to the processing device 71.
- the acceleration sensor 23 detects the acceleration of the transport machine 10 and outputs the detection result to the processing device 71.
- the drive control device 24 is, for example, a microcomputer.
- the drive control device 24 controls the operation of the electric motors 13A and 13B, the braking system 13BS, the steering system 13SS, and the electric motor 13C that drives the hydraulic pump 13P based on a command from the processing device 71.
- the hydraulic pump 13P is a device that supplies hydraulic oil to the hydraulic cylinders 11Ca and 11Cb.
- the transporting machine 10 travels using the traveling electric motors 13A and 13B, but is not limited thereto.
- the transporting machine 10 may travel by a hydraulic motor that is driven by hydraulic fluid discharged from the hydraulic pump 13P.
- the braking system 13BS and the steering system 13SS may also be electric, or may operate using hydraulic pressure.
- the information regarding the position (absolute position) where the mark is arranged in the drift DR is known information measured in advance.
- Information regarding the absolute position of the mark is stored in the storage device 72.
- the processing device 71 determines the absolute value of the transport machine 10 in the drift DR based on the mark detection result (mark identification information) detected by the reading device 19 provided in the transport machine 10 and the storage information in the storage device 72. The position can be determined.
- the range sensor 20 includes a scanning lightwave distance meter that can output physical shape data of a space.
- the range sensor 20 includes, for example, at least one of a laser scanner and a three-dimensional distance sensor, and can acquire and output two-dimensional or three-dimensional spatial data.
- the range sensor 20 detects at least one of the loading machine 30 and the wall surface of the drift DR.
- the range sensor 20 can acquire at least one of the shape data of the loading machine 30, the shape data of the wall surface of the drift DR, and the shape data of the load of the vessel 11.
- the range sensor 20 can detect at least one of a relative position (relative distance and direction) with the loading machine 30 and a relative position with the wall surface of the drift DR.
- the range sensor 20 outputs the detected information to the processing device 71.
- information regarding the wall surface of the drift DR is obtained in advance and stored in the storage device 72. That is, the information regarding the wall surface of the drift DR is known information measured in advance.
- the information regarding the wall surface of the drift DR includes information regarding each shape of the plurality of portions of the wall surface and information regarding the absolute position of each of the wall surface portions.
- the storage device 72 stores the relationship between the shapes of the plurality of wall portions and the absolute positions of the wall portions having the shapes.
- the processing device 71 transports in the drift DR based on the detection result (wall shape data) of the drift DR detected by the range sensor 20 provided in the transporting machine 10 and the storage information in the storage device 72. The absolute position and orientation of the machine 10 can be determined.
- the processing device 71 Based on the current position (absolute position) of the transporting machine 10 derived using at least one of the reading device 19 and the range sensor 20, the processing device 71 transports according to a determined route (target route) of the underground mine MI.
- the transporting machine 10 that travels the drift DR is controlled so that the machine 10 travels.
- the processing device 71 is, for example, a microcomputer including a CPU. Based on the detection results of the non-contact sensors 17A, 17B, the reading device 19, the range sensor 20, and the like, the processing device 71 is configured to use the electric motors 13A, 13B, the braking system 13BS, the wheels 12A, The steering system 13SS of 12B is controlled. Then, the processing device 71 causes the transport machine 10 to travel according to the target route described above at a predetermined traveling speed and acceleration.
- the storage device 72 includes at least one of a RAM, a ROM, a flash memory, and a hard disk drive, and is connected to the processing device 71.
- the storage device 72 stores a computer program and various information necessary for the processing device 71 to autonomously run the transporting machine 10.
- the communication device 25 is connected to the processing device 71 and performs data communication with at least one of the communication device mounted on the loading machine 30 and the management device 3.
- the transport machine 10 is an unmanned vehicle and can autonomously travel.
- the communication device 25 can receive information (including a command signal) transmitted from at least one of the management device 3 and the loading machine 30. Further, the communication device 25 can transmit information detected by the imaging devices 16A and 16B, the peripheral monitoring cameras 17CA and 17CB, the speed sensor 22, the acceleration sensor 23, and the like to at least one of the management device 3 and the loading machine 30.
- the transporting machine 10 transmits information about the periphery of the transporting machine 10 acquired by at least one of the peripheral monitoring cameras 17CA and 17CB and the non-contact sensors 17A and 17B to the management device 3, and the operator transports based on the peripheral information.
- the machine 10 can also be remotely controlled. Thus, the transport machine 10 can travel not only autonomously but also by an operator's operation, and can slide and lift the vessel 11.
- the management device 3 that has acquired the information detected by the speed sensor 22, the acceleration sensor 23, and the like accumulates this information in the storage device 3M, for example, as operation information of the transporting machine 10. Further, when the management device 3 acquires information captured by the peripheral monitoring cameras 17CA and 17CB, the operator operates the transporting machine 10 while visually recognizing an image around the transporting machine 10 captured by the peripheral monitoring cameras 17CA and 17CB. You can also Furthermore, the loading machine 30 which acquired the information regarding the mass of the ore MR of the vessel 11 detected by the mass sensor 18 can also control the loading amount of the ore MR on the vessel 11 based on this information. Next, the loading machine 30 will be described.
- FIG. 13 is a side view of the loading machine 30 according to the present embodiment.
- FIG. 14 is a top view of the loading machine 30 according to the present embodiment.
- FIG. 15 is a front view of the loading machine 30 according to the present embodiment.
- FIG. 13 shows a state where the loading machine 30 excavates the ore MR of the natural ground RM and conveys the excavated ore MR.
- the loading machine 30 excavates the natural ground RM of the ore MR in the crosscut CR, and loads the excavated ore MR on the vessel 11 of the transporting machine 10 shown in FIGS.
- a feeder 31, a support mechanism 32, a traveling device 34, a penetrating member 35, a rotating body 36, and a rock guard 37 are attached to the vehicle body 30 ⁇ / b> B of the loading machine 30.
- the side on which the penetrating member 35 is attached is the front side of the loading machine 30, and the side opposite to the side on which the penetrating member 35 is attached is the rear side of the loading machine 30. Note that the loading machine 30 may not include the rotating body 36 and the rock guard 37.
- the feeder 31 loads the ore MR from the natural ground RM, transports it in a direction away from the natural ground RM at the draw point DP, and then discharges it. That is, the feeder 31 conveys the ore MR loaded in front of the loading machine 30 toward the rear, and discharges it from the rear.
- the feeder 31 uses a transport belt as an endless transport body and rotates the belt around a pair of rollers to transport the ore MR from the loading side 31F to the discharge side 31E.
- the loading side 31F is the natural ground RM side
- the discharge side 31E is the opposite side to the loading side 31F. As shown in FIG.
- the feeder 31 is provided with a pair of guides 31 ⁇ / b> G and 31 ⁇ / b> G on both sides in the width direction W.
- the pair of guides 31 ⁇ / b> G and 31 ⁇ / b> G suppress the ore MR that is being transported from the feeder 31 from dropping off.
- the width direction W is a direction orthogonal to the direction F in which the feeder 31 transports the ore MR, and is a direction parallel to the rotation center axis of the pair of rollers provided in the feeder 31.
- the width direction W of the feeder 31 is also the width direction of the vehicle body 30B.
- the feeder 31 includes a guide 39 for guiding the ore MR into the vessel 11 of the transporting machine 10 on the discharge side 31E.
- the feeder 31 swings about the axis of the loading side 31F of the feeder 31 in front of the vehicle body 30B.
- the feeder 31 can change the angle ⁇ with respect to the ground G.
- the angle ⁇ is an angle formed between the straight line LC connecting the rotation center axes of the pair of rollers included in the feeder 31 and the ground G.
- Rotating roller 33 loads ore MR into feeder 31.
- the rotating roller 33 feeds the ore MR into the feeder 31 while rotating on the loading side 31F of the feeder 31, that is, in front of the feeder 31. For this reason, at the time of excavation of ore, the rotation roller 33 is installed in the loading side 31F of the feeder 31 by the support mechanism 32 provided with the boom 32a and the arm 32b.
- the rotating roller 33 includes a rotating member 33D that rotates around a predetermined axis Zr and a contact member 33B that is provided on the outer periphery of the rotating member 33D and that excavates in contact with the ore MR.
- the contact member 33B is a plurality of plate-like members that protrude outward in the radial direction from the rotating member 33D and that are provided at predetermined intervals along the circumferential direction of the rotating member 33D.
- a plane parallel to the plate surface of the contact member 33B is not orthogonal to the axis Zr.
- a plane parallel to the plate surface of the contact member 33B is parallel to the axis Zr.
- the contact member 33B may be bent so that the tip, that is, the end opposite to the rotating member 33D side, bites into the natural ground RM to be excavated.
- the contact member 33B moves away from the feeder 31 when positioned at the upper U, and approaches the feeder 31 when positioned at the lower D.
- the plurality of contact members 33B excavate the ore MR from the natural ground RM and send it to the feeder 31. Since the plurality of contact members 33B rotate together with the rotation member 33D, the ore MR can be continuously excavated and fed into the feeder 31.
- the support mechanism 32 that rotatably supports the rotating roller 33 includes a boom 32a attached to the vehicle body 30B and an arm 32b connected to the boom 32a.
- the boom 32a is attached to the vehicle body 30B of the loading machine 30 via the shaft 38A, and swings with respect to the vehicle body 30B about the shaft 38A.
- the arm 32b is connected to, for example, the end of the boom 32a opposite to the vehicle body 30B via the shaft 38B, and swings about the shaft 38B with respect to the boom 32a.
- the arm 32b is an end opposite to the end connected to the boom 32a, and rotatably supports the rotating roller 33.
- the boom 32a and the arm 32b may be driven to swing by a hydraulic cylinder as an actuator, or may be driven to swing by an electric motor or a hydraulic motor.
- the boom 32a swings around the first axis line Za with respect to the vehicle body 30B
- the arm 32b swings around an axis line Za 'parallel to the first axis line Za.
- the first axis Za is the central axis of the shaft 38A that connects the boom 32a and the vehicle body 30B
- the axis Za ′ that is parallel to the first axis Za is the center of the shaft 38B that connects the boom 32a and the arm 32b. Is the axis.
- the arm 32b may further swing around an axis parallel to the second axis perpendicular to the first axis Za. If it does in this way, since the range which can rotate rotation roller 33 becomes large, the freedom degree of excavation work improves.
- the boom 32a is a pair of rod-shaped members (first rod-shaped members) provided on both sides in the width direction W of the vehicle body 30B, in this embodiment, on both sides in the width direction W of the feeder 31.
- the arms 32b are a pair of rod-shaped members (second rod-shaped members) connected to the respective booms 32a. As shown in FIG. 14, the pair of arms 32b supports the rotating roller 33 between them.
- the pair of booms 32a are connected by beams 32J. Since the rigidity of the support mechanism 32 is improved by such a structure, the excavation efficiency of the ore MR is reduced since the support mechanism 32 can reliably press the rotating roller 33 against the natural ground RM when excavating the ore MR. It is suppressed. Moreover, you may connect a pair of arm 32b with a rod-shaped or plate-shaped member. This is more preferable because the rigidity of the support mechanism 32 is further improved.
- the rotating roller 33 moves when the boom 32a swings with respect to the vehicle body 30B and the arm 32b swings with respect to the boom 32a.
- the support mechanism 32 can change the relative positional relationship between the rotation roller 33, the feeder 31, and the vehicle body 30B by moving the rotation roller 33.
- the support mechanism 32 excavates different positions of the natural ground RM by moving the rotating roller 33, or moves the rotating roller 33 from the natural ground RM toward the feeder 31 to ore MR from the natural ground RM. Can be scraped into the feeder 31 side.
- the support mechanism 32 uses the rotating roller 33 to scrape the object toward the feeder 31. , The object ahead of the loading machine 30 in the traveling direction can be removed.
- the rotating roller 33 is rotated by an electric motor 33M attached to the tip of the arm 32b as shown in FIG.
- the device for driving the rotating roller 33 is not limited to the electric motor 33M, and may be, for example, a hydraulic motor. Further, the location where the electric motor 33M is attached is not limited to the tip of the arm 32b.
- a traveling device 34 for traveling the vehicle body 30B is attached.
- the traveling device 34 includes a pair of crawler belts 34C provided on both sides in the width direction of the vehicle body 30B, a pair of drive wheels 34D provided on both sides in the width direction of the vehicle body 30B, and a pair of wheels provided on both sides in the width direction of the vehicle body 30B.
- a driven wheel 34S a crawler belt 34C is wound around the drive wheel 34D and the driven wheel 34S.
- Each drive wheel 34D is driven separately and independently.
- the loading machine 30 includes a traveling electric motor for each drive wheel 34D. With such a structure, the pair of crawler belts 34C and 34C are driven independently.
- the penetration member 35 is attached to the vehicle body 30B.
- the penetration member 35 is disposed on the loading side 31F of the feeder 31 of the vehicle body 30B.
- the penetrating member 35 is a member having a cone shape, and in the present embodiment, has a quadrangular pyramid shape.
- the shape of the penetrating member 35 is not limited to a quadrangular pyramid shape, and may be a triangular pyramid shape, for example.
- the penetrating member 35 is attached to the vehicle body 30B so that the top of the cone is in front of the vehicle body 30B. By doing in this way, when the loading machine 30 penetrates into the natural ground RM, the penetration member 35 penetrates into the natural ground RM from the top.
- the penetrating member 35 penetrates the natural mountain RM from the top of the cone and breaks the natural mountain RM.
- the traveling device 34 causes the feeder 31 and the vehicle body 30B to which the penetrating member 35 is attached to travel forward, and the feeder 31 is moved to the natural ground RM while operating the feeder 31. Intrude.
- the upper conveyor belt moves from the loading side 31F toward the discharging side 31E.
- the loading machine 30 can penetrate deeper into the natural ground RM because the driving force of the feeder 31 can be used for penetration by operating the feeder 31 in this way during penetration.
- a pair of rotating bodies 36 are provided on both sides in the width direction of the vehicle body 30B, that is, on both sides in the direction orthogonal to the conveying direction of the feeder 31.
- the pair of rotating bodies 36 is disposed in front of the traveling device 34 and on the loading side 31 ⁇ / b> F of the feeder 31.
- the rotating body 36 is a structure in which a plurality of blades 36B are provided at predetermined intervals around a drum 36D that rotates around a predetermined axis.
- the rotating body 36 is driven by, for example, an electric motor.
- the rotating body 36 may be driven by an electric motor that drives the feeder 31.
- the driving of the feeder 31 and the driving of the rotating body 36 may be switched by a clutch or the like. For example, when the clutch is engaged, the feeder 31 and the rotator 36 rotate at the same time, and when the clutch is released, only the feeder 31 can rotate.
- the rotating body 36 rotates in a direction in which the vehicle body 30B of the loading machine 30 is pressed against the ground G when the penetrating member 35 penetrates into the natural ground RM. Specifically, the rotating body 36 rotates so that the blade 36B on the natural mountain RM side is directed upward U from the lower side D, and the blade 36B on the traveling device 34 side is directed downward D from the upper side U. By doing in this way, when the blade 36B on the natural ground RM side contacts the natural ground RM, the rotating body 36 pushes the front of the vehicle body 30B downward D, so that the crawler belt 34C of the traveling device 34 touches the ground G. It is more strongly pressed against.
- the frictional force between the crawler belt 34C and the ground G increases, so that the traveling device 34 can easily allow the penetration member 35 to penetrate the natural ground RM.
- a rock guard 37 is provided between the rotating body 36 and the crawler belt 34 ⁇ / b> C of the traveling device 34.
- the rock guard 37 is attached to the vehicle body 30B.
- the rock guard 37 protects the traveling device 34 from the ore MR flying from the rotating roller 33 during excavation, or protects the traveling device 34 from rocks or the like existing in the tunnel when the loading machine 30 travels. To do.
- the rock guard 37 suppresses a decrease in durability of the traveling device 34.
- the vehicle body 30B includes a fixing device 30F that extends toward the outer side in the width direction of the vehicle body 30B and is pressed against the wall surface CRW of the crosscut CR connected to the draw point DP.
- a fixing device 30F is provided on each side of the vehicle body 30B in the width direction so as to face each other, but the number and installation locations of the fixing devices 30F are not limited thereto.
- the fixing device 30F may be provided above the vehicle body 30B.
- the fixing device 30F includes, for example, a hydraulic cylinder 30FC and a pressing member 30FP provided at the tip of the piston of the hydraulic cylinder 30FC.
- the fixing device 30F fixes the loading machine 30 in the cross cut CR when the loading machine 30 is excavated and when the ore MR is conveyed. Specifically, the fixing device 30F extends the hydraulic cylinder 30FC and presses the pressing member 30FP against the wall surface CRW, thereby fixing the vehicle body 30B of the loading machine 30 in the crosscut CR via these members. By doing in this way, the reaction force generated when the loading machine 30 excavates the natural ground RM can be received by the cross cut CR via the fixing device 30F. As a result, since the posture of the loading machine 30 is stable, the natural ground RM can be excavated stably.
- a hydraulic cylinder may be provided between the fixing device 30F and the vehicle body 30B, and after fixing the fixing device 30F to the wall surface CRW of the crosscut CR, the vehicle body may be penetrated using the driving force of the hydraulic cylinder.
- the fixing device 30F When the fixing device 30F is provided on both sides or above the width direction of the vehicle body 30B, the fixing by the fixing device 30F is released when the loading machine 30 penetrates.
- the hydraulic cylinder 30FC is contracted, and the pressing member 30FP does not press the wall surface CRW.
- the fixing device 30F operates to fix the loading machine 30 in the cross cut CR.
- the traveling device 34 moves the loading machine 30 after the fixing by the fixing device 30F is released. Move.
- a fixing device 30F is provided behind the vehicle body 30B, that is, on the discharge side 31E of the feeder 31, and is fixed between the reaction force receiver TG protruding from the ground G in the crosscut CR and the vehicle body 30B. You may receive the reaction force mentioned above through the apparatus 30F. At the time of excavation, the reaction force in the front-rear direction of the loading machine 30 is large, but by using such a structure, the reaction force at the time of excavation can be more effectively received. Moreover, the loading machine 30 can also adjust the position of the loading machine 30 at the time of excavation by extending the fixing device 30F. Note that the loading machine 30 may not include the fixing device 30F.
- the loading machine 30 includes the ore MR between a portion where the ore MR is loaded on the feeder 31 (loading side 31F) and a portion where the ore MR is discharged from the feeder 31 (discharge side 31E).
- a switching mechanism 80 for switching between discharging and stopping discharging is provided.
- the switching mechanism 80 includes a support body 81, a lid 82, and a hydraulic cylinder 83 as an actuator that opens and closes the lid 82. As shown in FIG.
- the support 81 has two leg portions 81 ⁇ / b> R attached at one end to both sides in the width direction of the vehicle body 30 ⁇ / b> B, specifically, both sides in the width direction of the feeder 31, and the two leg portions 81 ⁇ / b> R. It is a gate-shaped member including a connecting portion 81C that connects them at the other end. The ore MR passes through a portion surrounded by the two leg portions 81R and the connecting portion 81C.
- the lid 82 is a plate-like member, and is provided at a portion surrounded by the two leg portions 81R and the connecting portion 81C.
- the lid 82 rotates around a predetermined axis Zg existing on the connecting portion 81C side of the support 81.
- a hydraulic cylinder 83 is provided between the lid 82 and the connecting portion 81 ⁇ / b> C of the support body 81. As the hydraulic cylinder 83 expands and contracts, the lid 82 opens and closes a portion surrounded by the two leg portions 81R and the connecting portion 81C. When the lid 82 is opened, the ore MR passes through a portion surrounded by the two leg portions 81R and the connecting portion 81C.
- the loading machine 30 includes an information collection device 40.
- the information collecting device 40 is attached to the loading side 31F of the vehicle body 30B, that is, the front side. More specifically, the part where the information collecting device 40 collects information is attached to the loading side 31F of the vehicle body 30B, that is, facing forward.
- the information collection device 40 is a device that acquires and outputs three-dimensional spatial data.
- the information collection device 40 acquires ore information as information relating to the state of the ore MR of the natural ground RM.
- the ore information is three-dimensional spatial data of the natural ground RM.
- the information collection device 40 is, for example, a camera, a stereo camera, a laser scanner, a three-dimensional distance sensor, or the like.
- the part where the information collecting device 40 collects information is a lens in the case of a camera or a stereo camera, and a light receiving part in the case of a laser scanner and a three-dimensional distance sensor.
- a stereo camera is used as the information collection device 40.
- the loading machine 30 has three information collection devices 40 attached to the beam 32J of the support mechanism 32. That is, the plurality of information collection devices 40 are installed at a plurality of locations in the width direction of the vehicle body 30B. By doing in this way, even when the imaging target of one information collection device 40 is hidden in the arm 32b, the loading machine 30 can obtain the ore information of the imaging target by the other information collection device 40.
- the control device included in the loading machine 30 controls the operation of the loading machine 30 using the ore information collected by the information collecting device 40.
- the control device described above controls at least one of the feeder 31, the rotating roller 33, the support mechanism 32, and the traveling device 34 based on the ore information acquired by the information collecting device 40.
- the loading machine 30 includes an information collecting device 41 on the discharge side 31E of the vehicle body 30B, that is, on the rear side. More specifically, the part where the information collecting device 41 collects information is attached facing the discharge side 31E of the vehicle body 30B, that is, the rear side.
- the information collection device 41 is a device that acquires and outputs three-dimensional spatial data, like the information collection device 40 described above.
- the information collection device 41 acquires load information as information regarding the state of the ore MR loaded on the vessel 11 of the transporting machine 10 illustrated in FIGS. 4 and 5.
- the cargo information is three-dimensional spatial data of the ore MR.
- the information collection device 41 is, for example, a camera, a stereo camera, a laser scanner, a three-dimensional distance sensor, or the like, similar to the information collection device 40 described above.
- the part where the information collecting device 41 collects information is a lens in the case of a camera or a stereo camera, and a light receiving part in the case of a laser scanner and a three-dimensional distance sensor.
- a stereo camera is used as the information collection device 41.
- the loading machine 30 has two information collection devices 41 attached to both sides of the feeder 31 in the width direction. That is, the plurality of information collection devices 41 are installed at a plurality of locations in the width direction of the vehicle body 30B. By doing in this way, the loading machine 30 can obtain the ore information of the imaging target by the other information collecting device 41 even when the imaging target of one information collecting device 41 is hidden in the shadow of the mine shaft.
- the control device provided in the loading machine 30 controls at least one of the loading machine 30 and the transporting machine 10 using the load information collected by the information collecting device 41.
- the control device described above controls the operation of the rotating roller 33, the feeder 31, the switching mechanism 80, or the like based on the load information acquired by the information collecting device 41, or the position or vessel of the vessel 11 provided in the transport machine 10. 11 movements are controlled.
- the loading machine 30 changes the conveyance amount of the ore MR or adjusts the position of the vessel 11 according to the state of the ore MR loaded on the vessel 11 of the transporting machine 10. Therefore, for example, the production efficiency of the mine M is improved.
- FIG. 16 is a view showing a posture when the loading machine 30 according to the present embodiment travels.
- the angle ⁇ with respect to the feeder 31 ground G is smaller than when the loading machine 30 excavates and conveys the ore MR (see FIG. 13). That is, the straight line LC connecting the rotation center axes of the pair of rollers provided in the feeder 31 is closer to the ground G. If it does in this way, since the loading side 31F of the feeder 31 arrange
- the support mechanism 32 when the loading machine 30 travels, the support mechanism 32 is folded. Then, the rotating roller 33 moves to a position closer to the feeder 31 as compared with the case where the loading machine 30 excavates and conveys the ore MR (see FIG. 13). For this reason, in the loading machine 30, the rotation roller 33 that exists at a position away from the center of gravity in the front-rear direction of the vehicle body 30B moves to a position closer to the center of gravity. To do. As a result, the loading machine 30 can travel stably.
- FIG. 17 is an example of a block diagram illustrating a control device 75 provided in the loading machine 30 according to the present embodiment.
- the control device 75 included in the loading machine 30 controls the feeder 31, the support mechanism 32, the rotating roller 33, the traveling device 34, the rotating body 36, and the switching mechanism 80.
- the control device 70 includes a processing device 76 and a storage device 77.
- the processing device 76 includes a front imaging device 40C corresponding to the information collecting device 40, a rear imaging device 41C corresponding to the information collecting device 41, a non-contact sensor 42, a reading device 43, a range sensor 44, a gyro sensor 45, a speed sensor.
- the non-contact sensor 42, the reading device 43, and the range sensor 44 are attached to the outside of the vehicle body 30B of the loading machine 30.
- the front imaging device 40C and the rear imaging device 41C include an image sensor such as a CCD or a CMOS, and can acquire an optical image of an object and detect the outer shape of the object.
- the front imaging device 40C and the rear imaging device 41C include a stereo camera and can acquire three-dimensional outline data of an object.
- the front imaging device 40C and the rear imaging device 41C output the captured result to the processing device 76.
- the processing device 76 acquires the detection result of the front imaging device 40C, and obtains the ore information described above based on the detection result. Further, the processing device 76 acquires the detection result of the rear imaging device 41C, and obtains the load information described above based on the detection result.
- the outer shape of the ore MR of the natural ground RM and the outer shape of the ore MR loaded on the vessel 11 may be detected using at least one of a laser scanner and a three-dimensional distance sensor.
- the non-contact sensor 42 detects an object existing around the loading machine 30.
- the non-contact sensor 42 is connected to the processing device 76 and outputs a detection result to the processing device 76.
- the non-contact sensor 42 outputs the acquired result to the processing device 76.
- the reading device 43 detects identification information (unique information) of marks provided on the drift DR or the cross cut CR. A plurality of marks are arranged along the drift DR or the crosscut CR.
- the reading device 43 is connected to the processing device 76 and outputs a detection result to the processing device 76.
- the mark may be an identifier (code) such as a barcode and a two-dimensional code, or may be an identifier (tag) such as an IC tag or RFID.
- the information regarding the position (absolute position) where the mark is arranged in the drift DR or the crosscut CR is known information measured in advance.
- Information regarding the absolute position of the mark is stored in the storage device 77.
- the processing device 76 Based on the mark detection result (mark identification information) detected by the reading device 43 provided in the loading machine 30 and the storage information of the storage device 77, the processing device 76 uses the drift DR or the crosscut CR. The absolute position of the loading machine 30 can be determined.
- the range sensor 44 acquires and outputs the physical shape data of the space.
- the gyro sensor 45 detects the direction (direction change amount) of the loading machine 30 and outputs the detection result to the processing device 76.
- the speed sensor 46 detects the traveling speed of the loading machine 30 and outputs the detection result to the processing device 76.
- the acceleration sensor 47 detects the acceleration of the loading machine 30 and outputs the detection result to the processing device 76.
- the drive control device 48 is, for example, a microcomputer.
- the drive control device 48 is based on a command from the processing device 76, and includes an electric motor 33M that drives the rotating roller 33 shown in FIG.
- the operation of the electric motor 50 that swings the arm 32b, the electric motor 51F that drives the feeder 31, the electric motor 51R that rotates the rotating body 36, and the electric motor 86 that drives the hydraulic pump 85 is controlled.
- the hydraulic pump 85 is a device that supplies hydraulic oil to the hydraulic cylinder 83 provided in the switching mechanism 80, the hydraulic cylinder 87 as an actuator that changes the posture of the feeder 31, and the hydraulic cylinder 30FC of the fixing device 30F.
- the boom 32a and the arm 32b may be swung by a hydraulic cylinder. In this case, hydraulic oil is supplied from the hydraulic pump 85 to the boom cylinder that swings the boom 32a and the arm cylinder that swings the arm 32b.
- the electric motor 48L drives one crawler belt 34C shown in FIG. 14, and the electric motor 48R drives the other crawler belt 34C.
- the electric motor 48L drives one crawler belt 34C shown in FIG. 14, and the electric motor 48R drives the other crawler belt 34C.
- the loading machine 30 travels by the electric motors 48L and 48R included in the travel device 34, but is not limited thereto.
- the loading machine 30 may travel by a hydraulic motor that is driven by hydraulic oil discharged from the hydraulic pump 85.
- the boom 32 a and the arm 32 b of the support mechanism 32, the rotating rotor 33 and the rotating body 36, and the feeder 31 may also be driven by a hydraulic cylinder or a hydraulic motor that is driven by hydraulic oil discharged from the hydraulic pump 85.
- the range sensor 44 includes a scanning lightwave distance meter that can output physical shape data of a space.
- the range sensor 44 includes, for example, at least one of a laser range finder, a laser scanner, and a three-dimensional scanner, and can acquire and output three-dimensional spatial data.
- the range sensor 44 detects at least one of the wall surfaces of the transport machine 10, the drift DR, and the crosscut CR.
- the range sensor 44 can acquire at least one of the shape data of the transporting machine 10, the shape data of the wall surface of the drift DR or the crosscut CR, and the shape data of the load of the vessel 11 included in the transporting machine 10. is there.
- the range sensor 44 can detect at least one of a relative position (relative distance and direction) with the transporting machine 10 and a relative position with the wall surface of the drift DR or the crosscut CR. The range sensor 44 outputs the detected information to the processing device 76.
- information regarding the wall surfaces of the drift DR and the crosscut CR is obtained in advance and stored in the storage device 77. That is, the information regarding the wall surface of the drift DR is known information measured in advance.
- the information regarding the wall surface of the drift DR includes information regarding each shape of the plurality of portions of the wall surface and information regarding the absolute position of each of the wall surface portions.
- the storage device 77 stores the relationship between the shapes of the plurality of wall portions and the absolute positions of the wall portions having the shapes.
- the processing device 76 uses the drift DR wall surface detection result (wall surface shape data) detected by the range sensor 20 provided in the loading machine 30 and the stored information in the storage device 77 to determine whether the drift DR is in the drift DR.
- the absolute position and orientation of the loading machine 30 can be determined.
- the processing device 76 Based on the current position (absolute position) of the loading machine 30 derived using at least one of the reading device 43 and the range sensor 44, the processing device 76 follows a determined route (target route) of the underground mine MI. The loading machine 30 that travels in the drift DR or the cross-cut CR is controlled so that the loading machine 30 travels. At this time, the processing device 76 controls the loading machine 30 so as to be arranged at the designated draw point DP.
- the processing device 76 is a microcomputer including a CPU, for example.
- the processing device 76 controls the electric motors 48L and 48R included in the traveling device 34 via the drive control device 48 based on the detection results of the front imaging device 40C, the rear imaging device 41C, the non-contact sensor 42, the reading device 43, and the like. . Then, the processing device 76 causes the loading machine 30 to travel at a predetermined traveling speed and acceleration according to the above-described target route.
- the storage device 77 includes at least one of a RAM, a ROM, a flash memory, and a hard disk drive, and is connected to the processing device 76.
- the storage device 77 stores a computer program and various information necessary for the processing device 76 to autonomously run the loading machine 30.
- the communication device 52 is connected to the processing device 76 and performs data communication with at least one of the communication device mounted on the transporting machine 10 and the management device 3.
- the loading machine 30 is an unmanned vehicle and can autonomously travel.
- the communication device 52 can receive information (including a command signal) transmitted from at least one of the management device 3 and the transporting machine 10 via the antenna 53. Further, the communication device 52 manages information detected by the front imaging device 40C, the rear imaging device 41C, the non-contact sensor 42, the reading device 43, the range sensor 44, the gyro sensor 45, the speed sensor 46, the acceleration sensor 47, and the like. 3 and at least one of the transporting machines 10 can be transmitted via the antenna 53.
- the loading machine 30 is not limited to an unmanned vehicle capable of autonomous traveling.
- the management device 3 acquires an image captured by the front imaging device 40C and displays it on the display device 8 shown in FIG.
- the management device 3 acquires an image captured by the rear imaging device 41C and displays it on the display device 8 shown in FIG. 6, and the operator excavates and loads the loading machine 30 while visually checking the displayed image.
- the operation of the vessel 11 of the transporting machine 10 may be controlled by remote control.
- the management device 3 that has acquired information detected by the speed sensor 46, the acceleration sensor 47, and the like accumulates this information as operation information of the loading machine 30, for example, in the storage device 3M.
- the management device 3 acquires information captured by the front imaging device 40C or the rear imaging device 41C
- the operator visually recognizes an image around the loading machine 30 captured by the front imaging device 40C or the rear imaging device 41C.
- the loading machine 30 can also be operated.
- the transporting machine 10 that has acquired information on the state of the ore MR of the vessel 11 detected by the rear imaging device 41C controls the loading amount of the ore MR on the vessel 11 or the position of the vessel 11 based on this information. You can also.
- the loading machine 30 is electric, but the internal combustion engine may be a power source.
- FIG. 18 is a diagram illustrating an example of the capacitor exchange device EX provided in the mine management system 1 according to the present embodiment.
- the capacitor exchange device EX is installed in the space SP.
- a maintenance space MS for maintaining the transporting machine 10 and the loading machine 30 is provided in the space SP.
- the storage battery exchanging device EX includes a storage battery holding device 90, a pair of guides 91a and 91b installed on both sides thereof, and replacement carts 92a and 92b guided by the respective guides 91a and 91b.
- the capacitor storage device 90 holds a plurality of replacement capacitors 14.
- the battery holder 90 has a function as a charger that charges the discharged battery 14.
- the guide 91a is provided on one side of the battery holding device 90, and the guide 91b is provided on the other side of the battery holding device 90.
- the guide 91a is two rails that extend from the battery holder 90 toward the entrance / exit SPG of the space SP.
- the guide 91b is the same as the guide 91a.
- the carriage 92a is attached to the guide 91a and moves along the guide 91a, and the carriage 92b is attached to the guide 91b and moves along the guide 91b.
- the transport machine 10 that has entered the space SP in order to replace the storage battery 14 stops between the guide 91a and the guide 91b. At this time, the transporting machine 10 stops with one capacitor 14 facing the guide 91a and the other capacitor 14 facing the guide 91b.
- the carriage 92 a and the carriage 92 b receive the charged storage battery 14 from the storage battery holder 90 and move toward the transport machine 10.
- the discharged storage battery 14 mounted on the transporting machine 10 is moved from the transporting machine 10 to the upper part thereof.
- the carriage 92a and the carriage 92b move to a position where the charged storage battery 14 loaded on each of the carriages 92a and 92b faces the transporting machine 10.
- the carriage 92 a and the carriage 92 b load the charged storage battery 14 into the transporting machine 10.
- the carriage 92 a and the carriage 92 b return to the position of the storage battery holding device 90 and move the storage battery 14 collected from the transport machine 10 to the storage battery holding device 90.
- the capacitor holding device 90 charges the capacitor. In this way, the battery 14 of the transport machine 10 is replaced.
- the storage battery 14 included in the transporting machine 10 may not be detachable.
- the battery storage device EX may charge the battery 14 included in the transport machine 10.
- the loading machine 30 since the transporting machine 10 travels by the capacitor 14, the discharged capacitor 14 is replaced with the charged capacitor 14 using the capacitor replacement device EX in the space SP.
- the loading machine 30 is supplied with electric power from the power supply cable 5 shown in FIG. 3 and the like, and the rotating roller 33, the feeder 31 and the like operate. Since the loading machine 30 moves in the mine, for example, it travels to move to a different draw point DP. In this case, the loading machine 30 is disconnected from the feeding cable 5. For this reason, the loading machine 30 includes a capacitor for driving the electric motors 48L and 48R for traveling shown in FIG.
- This accumulator is charged by the electric power supplied from the power supply cable 5 when the loading machine 30 is excavating and transporting the ore MR at the draw point DP.
- the storage battery 30 is replaced with, for example, the maintenance space MS in the space SP.
- FIG. 19 is a diagram illustrating a direction in which the transporting machine 10 travels the drift DR of the mine MI in the mine management system 1 according to the present embodiment.
- a plurality of drifts DR a plurality of outer peripheral paths TR, a plurality of draw points DP, or a plurality of OR paths OP provided in the underground mine MI
- a code DR a code TR, a code DP, or a code OP
- the symbols a and b are not attached.
- a peripheral circuit CD is formed by the drift DR and the outer peripheral path TR.
- a plurality of drifts DR and a plurality of outer peripheral paths TR are connected to form one peripheral circuit CD.
- a peripheral circuit CDa is formed by two drifts DRb and DRd and two outer peripheral paths TRa and TRb.
- a peripheral circuit CDb is formed by the two drifts DRc and DRe and the two outer peripheral paths TRa and TRb.
- one peripheral circuit CD is formed by the two drifts DR and the two outer peripheral paths TR.
- one peripheral circuit CD is formed by two drift DRs and two outer peripheral paths TR.
- the two drift DRs included in one peripheral circuit CD have mutually travelable directions. Is different.
- One loading machine 30 is arranged in one drift DR.
- a plurality of loading machines 30 may be arranged in one drift DR.
- the circumferential circuit CD on which the transport machine 10 travels is formed to include at least one of the ore pass OPa and the ore pass OPb. It is preferable.
- the circumferential circuit CD on which the transporting machine 10 travels toward the storage battery exchanging apparatus EX installed in the space SP has the orpass OPa and the orpass OPb. It does not have to be included.
- the management device 3 can arbitrarily generate a peripheral circuit CD for each transport machine 10. For example, the management device 3 may generate the circuit CD according to the state of the transport machine 10.
- the management apparatus 3 includes the transporting machine 10 that stores the power storage unit EX.
- the shortest circuit CD from the current position to the space SP can be generated as a replacement of the battery 14.
- the transporting machine 10 traveling on the drift DR travels on the circuit CD in the same direction.
- the vehicle travels clockwise around the circuit CD.
- the transporting machine 10 is loaded with the ore MR from the loading machine 30 at the draw point DP.
- the transporting machine 10 discharges the loaded ore MR with the ore pass OPa or the ore pass OPb.
- the transporting machine 10 traveling on the circumferential circuit CDa receives the loading of the ore MR from the loading machine 30 at the draw point DPb connected to the drift DRb.
- the transporting machine 10 travels along the drift DRb and the outer circumferential path TRa, and discharges the ore MR to the ore pass OPa provided adjacent to the outer circumferential path TRa.
- the transporting machine 10 that has discharged the ore MR travels on the drift DRd and receives the loading of the ore MR from the loading machine 30 at the draw point DPd connected to the drift DRd.
- the transporting machine 10 travels along the drift DRd and the outer circumferential path TRb, and discharges the ore MR to the ore pass OPb provided adjacent to the outer circumferential path TRb.
- the transporting machine 10 traveling on the peripheral circuit CDb receives the loading of the ore MR from the loading machine 30 at the draw point DPc connected to the drift DRc. Thereafter, the transporting machine 10 travels along the drift DRc and the outer circumferential path TRa, and discharges the ore MR to the ore pass OPa provided adjacent to the outer circumferential path TRa.
- the transporting machine 10 that has discharged the ore MR travels on the drift DRe and receives the loading of the ore MR from the loading machine 30 at the draw point DPe connected to the drift DRe. Thereafter, the transporting machine 10 travels along the drift DRe and the outer circumferential path TRb, and discharges the ore MR to the ore pass OPb provided adjacent to the outer circumferential path TRb.
- the passing of the transporting machine 10 can be minimized as compared with the case of reciprocating between the draw point DP and the ore pass OP.
- the circuit CD includes both the OR path OPa and the OR path OPb, the loading and discharging of the ore MR can be performed twice while the transporting machine 10 makes one circuit of the circuit CD.
- the conveyance amount of the ore MR can be increased.
- the mine management system 1 can improve cycle time and improve mine productivity.
- the passing of the transport machine 10 can be suppressed.
- each drift DR the direction in which the transporting machine 10 or the like travels is determined in one direction (one-way) for each drift DR. That is, each drift DR can travel only in one direction.
- the traveling direction of the drift DRb included in the circuit CDa is a direction from the ore path OPb toward the ore path OPa. In this case, the transport machine 10 cannot travel on the drift DRb so as to go from the ore pass OPa to the ore pass OPb.
- the management device 3 prevents the transporting machine 10 from passing another transporting machine or the loading machine 30 in each drift DR. Is generated.
- the peripheral circuit CD that reversely travels the drift DR in which the traveling direction is determined as one direction as a result of being included in the already generated peripheral circuit CD. Cannot be generated.
- the management device 3 generates a new peripheral circuit CD using the drift DR included in the already generated peripheral circuit CD, the traveling direction of the new peripheral circuit CD is the already generated peripheral circuit CD. So as to coincide with the traveling direction of the drift DR included in. By doing in this way, the passing of the transport machine 10 in the peripheral circuit CD is reduced or avoided.
- drift DRs are connected to the outer track TRa provided with the ore pass OPa, and six drift DRs are also connected to the outer route TRb provided with the ore pass OPb. ing. In the direction in which the outer circumferential path TRa extends, the same number (three in this embodiment) of drift DRs are connected to the outer circumferential path TRa in any direction with respect to the ore path OPa. Similarly, in the direction in which the outer peripheral path TRb extends, the same number (three in this embodiment) of drift DRs are connected to the outer peripheral path TRb in any direction with respect to the OR path OPb.
- the peripheral circuit CD that includes both the ore pass OPa and the ore pass OPb, (1) Pattern 1: Drift DRa, outer periphery TRa, drift DRf, outer periphery TRb, (2) Pattern 2: Drift DRa, outer circumference TRa, drift DRe, outer circumference TRb, (3) Pattern 3: Drift DRa, outer circumference TRa, drift DRd, outer circumference TRb, (4) Pattern 4: drift DRb, outer periphery TRa, drift DRf, outer periphery TRb, (5) Pattern 5: drift DRb, outer periphery TRa, drift DRe, outer periphery TRb, (6) Pattern 6: Drift DRb, outer periphery TRa, drift DRd, outer periphery TRb, (7) Pattern 7: drift DRc, outer periphery TRa, drift DRf, outer periphery TRb, (8) Pattern
- the transporting machine 10 travels in one direction (for example, clockwise) through the peripheral circuit CD so that the passing of the transporting machine 10 can be minimized and the transporting machine 10
- the ore MR can be loaded and discharged twice during one round of the circuit CD.
- the position and the number of OR paths OP provided in the respective outer circumferential paths TR are not limited.
- the same number of drift DRs in the extending direction of the outer circumferential path TR with respect to the ore path OP. are preferably connected because the number of patterns of the peripheral circuit CD can be increased.
- a plurality of work modes in which the above-described index is emphasized are defined.
- a plurality of these operation modes are determined in consideration of the mining cost ($ / t) per unit weight of the ore MR and the mining amount (t / h) of the ore MR per unit time.
- the production amount priority mode that prioritizes the mining amount (production amount) of the ore MR per unit time
- the energy saving mode that prioritizes the suppression of the energy consumption of the transporting machine 10 and the loading machine 30, and the underground
- a reduced maintenance cost mode that prioritizes suppression of maintenance costs for the road surface of the MI, the loading machine 30 and the transporting machine 10 is defined.
- the production amount priority mode is defined as a production maximum mode that maximizes the mining amount of the ore MR per unit time and a production amount smoothing mode that suppresses fluctuations in the mining amount of the ore MR. It has been.
- the maximum production amount mode (p1) is a mode in which the loading performance of the loading machine 30 and the transportation performance of the transporting machine 10 are maximized, the vehicle allocation efficiency is improved, and the production amount is maximized.
- the production amounts are “processing capacity of loading machine 30 [t / h] ⁇ number of loading machines 30 ⁇ loading efficiency” and “processing capacity of transporting machine 10 [t / h] ⁇ number of transporting machines 10 ⁇ It is a function of “transport efficiency (allocation efficiency)”.
- the production level mode (p2) is a mode that suppresses fluctuations in [t / h]. By suppressing the peak of [t / h] and suppressing fluctuations, it is not necessary to match the equipment and personnel assignment in the subsequent process to the peak.
- the processing capability (transport capability) of each transport machine 10 is suppressed when the plurality of transport machines 10 can operate normally. Thereby, the production amount in the underground mine MI is suppressed.
- an abnormality such as a failure of the transporting machine 10 or during maintenance of the transporting machine 10
- the processing capacity of the transporting machine 10 that can operate normally is increased. Thereby, the fall of a production amount is suppressed and a production amount is equalized.
- Energy saving mode (e) is a mode that suppresses energy consumption while achieving a target production amount and a target operating time. In the energy saving mode, the energy cost per mining amount is reduced by suppressing the acceleration and deceleration of the transport machine 10 and the operation of the work machine of the loading machine 30.
- the maintenance cost mode (m1, m2) is a mode in which the maintenance cost is suppressed while achieving the target production amount and the target operation time.
- the maintenance-saving cost mode (m1) of the road surface of the mine MI for example, the total travel distance (total travel distance) of the transport machine 10 traveling on a specific road surface is reduced, and the transport machine 10 in each of the plurality of drift DRs is reduced. By averaging the number of passes, etc., it is possible to suppress the specific road surface from being significantly deteriorated, thereby reducing the maintenance cost of the road surface.
- the wear of the members of the loading machine 30 is suppressed by limiting the excavation force, thereby reducing the maintenance cost of the loading machine 30.
- the load applied to the wheels 12A and 12B is suppressed by limiting the load amount of the vessel 4, thereby reducing the maintenance cost of the transport machine 10.
- FIG. 20 shows the mining cost ($ / t) per unit weight of the ore MR, the mining amount (t / h) of the ore MR per unit time, and the above-described plurality of operation modes (p1, p2, e, m1). , M2).
- the horizontal axis represents the mining cost ($ / t) per unit weight of the ore MR.
- the vertical axis indicates the mining amount (t / h) of the ore MR per unit time.
- the production maximum mode is indicated by a point p1.
- the production level mode is indicated by point p2.
- the energy saving mode is indicated by a point e.
- the road surface maintenance cost mode is indicated by a point m1.
- the low maintenance cost mode of the transport machine 10 and the loading machine 30 is indicated by a point m2.
- the mining cost ($ / t) per unit weight of the ore MR in the production maximum mode p1 and the mining amount (t / h) of the ore MR per unit time are set to 1, respectively.
- the multiple operation modes (p1, p2, e, m1, m2) take into consideration the mining cost ($ / t) per unit weight of the ore MR and the mining amount (t / h) of the ore MR per unit time. Determined. For each work mode, a target value of “$ / t” and a target value of “t / h” are determined in advance and stored in the storage device 3M. Each point (p1, p2, e, m1, m2) shown in FIG. 20 is plotted based on the target value of “$ / t” and the target value of “t / h”.
- work modes are selected by an operator (administrator).
- the administrator operates the input device 9 of the management apparatus 3 so that one work mode is selected from the plurality of work modes described above.
- the input device 9 generates an input signal corresponding to the selected work mode.
- the processing device 3C of the management device 3 sets the working mode of the underground mine MI based on the input signal.
- the target value of “$ / t” and the target value of “t / h” are achieved.
- the work parameters and the work parameters of the loading machine 30 are determined.
- the management device 3 sets one work mode from a plurality of work modes based on an input signal from the input device 9, and sets a target of “$ / t” based on the set (selected) work mode.
- the work parameter of the transport machine 10 and the work parameter of the loading machine 30 are determined so that the value and the target value of “t / h” are achieved.
- a plurality of operation modes are determined in consideration of the mining cost ($ / t) per unit weight of the ore MR and the mining amount (t / h) of the ore MR per unit time.
- the work parameters are determined in advance so as to achieve the target value of “$ / t” and the target value of “t / h” corresponding to the selected work mode, and are stored in the storage device 3M. Therefore, the management device 3 achieves the target value of “$ / t” and the target value of “t / h” based on the storage information of the storage device 3M and the set (selected) work mode.
- the working parameters of the transporting machine 10 and the working parameters of the loading machine 30 can be determined.
- the management device 3 changes both the work parameter of the transport machine 10 and the work parameter of the load machine 30 based on the determined work parameter of the transport machine 10 and the work parameter of the load machine 30. In the present embodiment, the management device 3 changes the work parameter of the transport machine 10 and the work parameter of the loading machine 30 at the same time.
- the work parameters include a parameter related to the performance of the loading machine 30, a parameter related to the performance of the transporting machine 10, a parameter related to the number of the transporting machines 10, and a parameter related to the allocation of the transporting machine 10. These parameters are changed.
- the work parameters of the transporting machine 10 include the traveling speed (vehicle speed) and acceleration (deceleration) of the transporting machine 10 in the underground mine MI, and the loading amount of the ore MR in the vessel 11. Moreover, the work parameters of the transport machine 10 include a dispatch parameter.
- the vehicle allocation parameter includes a movement path in the tunnel R until the transport machine 10 moves to the loading place LA including the draw point DP and the loading position LP, and a travel path in the tunnel R until the transport machine 10 moves to the ore pass OP. including.
- the movement path includes nine patterns of the above-described peripheral circuits (1) to (9) and a circular direction (either clockwise or counterclockwise).
- the dispatch parameter includes selection of an ore pass that directs the transport machine 10 among the ore pass OPa and the ore pass OPb. Further, the dispatch parameter includes selection of a loading place LA that the transport machine 10 is directed to among the plurality of loading places LA. In addition, the dispatch parameter includes the number of times the transport machine 10 passes for one drift.
- the working parameters of the loading machine 30 include at least one of the traveling speed (vehicle speed) of the loading machine 30 (traveling device 34) in the underground mine MI, the loading speed of the ore MI on the transporting machine 10, and the excavation force.
- the loading speed includes the speed of the feeder 31 (including the rotational speed of the rotating roller 33).
- the excavation force includes penetration input by the penetration member 35 and rotation force of the rotating body 34.
- the work parameters of the loading machine 30 include a dispatch parameter.
- the dispatch parameter includes the number of loading machines 30 arranged in one drift DR, the selection of the draw point DP that directs the loading machine 30 among the plurality of draw points DP, and the draw point at which the loading machine 30 is located. It includes a movement path in the mine tunnel R from the DP to another draw point DP.
- the movement path includes nine patterns of the above-described peripheral circuits (1) to (9) and a circular direction (either clockwise or counterclockwise).
- FIG. 21 is a diagram for explaining an example of work parameters of the transporting machine 10.
- the horizontal axis represents the transport time (time: h) of the ore MR by the transport machine 10 from the loading place LA to the soil discharging place OP.
- the vertical axis indicates the power consumption (kilowatt hour: kwh) of the transporting machine 10.
- the traveling of the transporting machine 10 is performed so that the target value “$ / t” and the target value “t / h” in the maximum production mode (p1) are achieved.
- Work parameters such as speed, acceleration (deceleration), and load capacity are determined.
- the transport machine 10 performs work based on the determined work parameters, the target value of “$ / t” and the target value of “t / h” can be obtained in a short transport time as shown by a point p1 in FIG. Can be achieved.
- the travel speed and acceleration (“acceleration”) of the transport machine 10 are achieved so that the target value “$ / t” and the target value “t / h” in the energy saving mode (e) are achieved. (Deceleration) and work parameters such as loading capacity are determined.
- the transporting machine 10 performs work based on the determined work parameters, the target value of “$ / t” and the target value of “t / h” with low power consumption as shown by a point e in FIG. Can be achieved.
- the traveling speed is set to a high value
- the acceleration and deceleration are also set to high values
- the loading amount is also set to a high (large) value.
- power consumption increases as travel speed, acceleration, deceleration, and load capacity increase. That is, in the maximum production amount mode (p1), although a high production amount is achieved, the power consumption is a high value.
- the traveling speed is set to a low value
- the acceleration and deceleration are set to low values
- the loading amount is set to a low (small) value.
- power consumption can be suppressed.
- the traveling speed, acceleration, deceleration, and load capacity are lowered, the production amount is lowered. That is, in the energy saving mode (e), although low power consumption is achieved, the production amount is a low value.
- FIG. 22 is a diagram for explaining an example of work parameters of the transporting machine 10.
- the horizontal axis represents the transport time (time: h) of the ore MR by the transport machine 10.
- the vertical axis shows the traveling speed (speed: m / h) of the transport machine 10.
- a line e illustrated in FIG. 22 is a speed profile of the transport machine 10 in the energy saving mode (e).
- a speed profile refers to travel speed data associated with an elapsed time from a certain point in time.
- the maximum value (maximum speed) of the traveling speed of the transporting machine 10 is equal in each of the maximum production mode (p1) and the energy saving mode (e), the transportation in the maximum production mode (p1).
- the acceleration and deceleration of the machine 10 are larger than the acceleration and deceleration of the transport machine 10 in the energy saving mode (e). Therefore, in the maximum production mode (p1), the time required for the transporting machine 10 to travel a predetermined distance can be short. Therefore, the production amount is high.
- the acceleration and deceleration of the transport machine 10 in the energy saving mode (e) are smaller than the acceleration and deceleration of the transport machine 10 in the maximum production mode (p1). Therefore, in the energy saving mode (e), although the time required for the transporting machine 10 to travel a predetermined distance becomes long, power consumption is suppressed.
- FIG. 23 is a diagram for explaining an example of work parameters of the transport machine 10.
- the horizontal axis represents the tires of the wheels 12A and 12B of the transporting machine 10, the bearings that rotatably support the wheels 12A and 12B, and the road surface of the mine MI that contacts the tires of the wheels 12A and 12B. Indicates the load applied to.
- the vertical axis indicates the amount of damage to the tires, bearings, and road surface. The amount of damage means the amount of wear or the degree of deterioration. The greater the amount of damage, the shorter the product life.
- the load applied to the tire, the bearing, and the road surface changes according to the traveling speed, acceleration, deceleration, and load capacity of the transport machine 10.
- the higher the traveling speed, acceleration, and deceleration the greater the load on the tire, bearing, and road surface.
- the greater the load the greater the load on the tires, bearings and road surface.
- the amount of damage increases.
- the damage amount of the tire and the bearing is increased, the frequency of replacing the tire and the bearing is increased, and the maintenance cost of the transporting machine 10 including the tire and the bearing is increased.
- the amount of damage on the road surface increases, the frequency of repairing the road surface increases, and the maintenance cost of the road surface increases.
- the work parameters of the transport machine 10 including the traveling speed, acceleration, deceleration, and loading capacity are set to high values. Thereby, in the maximum production amount mode (p1), a high production amount can be obtained. On the other hand, in the maximum production mode (p1), the amount of damage is large and the maintenance cost is high.
- the work parameters of the transporting machine 10 including the travel speed, acceleration, deceleration, and load capacity are set to low values. Thereby, in the road surface maintenance-saving cost mode (m1), the amount of road surface damage is suppressed, and the road surface maintenance cost is suppressed. On the other hand, in the road maintenance-saving cost mode (m1), the production amount is low.
- the work parameters of the transporting machine 10 including the traveling speed, acceleration, deceleration, and load capacity are set to low values. Thereby, in the maintenance-saving cost mode (m2) of the transport machine 10, the damage amount of a tire and a bearing is suppressed, and the maintenance cost of the transport machine 10 is suppressed. On the other hand, in the maintenance cost mode (m2) of the transporting machine 10, the production amount is low.
- FIG. 24 shows an example of work parameters of the transport machine 10 in the maximum production mode (p1) and the production leveling mode (p2).
- the operation parameter is set so that the production amount (travel speed, acceleration, deceleration, and loading amount of the transport machine 10 in the drift DR) in each of the four drift DRs is maximized. Is set.
- the production amount in each of the four drift DRs does not become the maximum, and the traveling of the transporting machine 10 in the drift DR is allowed with a margin for the maximum production capacity in the drift DR.
- Speed, acceleration, deceleration, loading capacity, etc. are set.
- the drift DR loading machine 30 When working in the maximum production mode (p1), for some reason, one of the four drift DRs (the drift DR loading machine 30) may become inoperable. . In that case, the reduction amount (variation amount) of the overall production amount of the underground mine MI becomes large.
- the production of the entire underground mine MI When one of the four drift DRs (loading machine 30 of the drift DR) becomes inoperable when working in the production level mode (p2), the production of the entire underground mine MI The production of the remaining three drifts is increased so that the amount of fluctuation of the amount is suppressed.
- the production amount in the drift DR does not become the maximum, but with a margin for the maximum production capacity, the traveling speed, acceleration, Deceleration and load capacity are set. Therefore, when one drift DR among the four drifts cannot be operated, the production amount of the remaining three drift DRs is increased, thereby suppressing the fluctuation amount of the production amount of the entire underground mine MI.
- the work amount of the crusher machine can be leveled in the post-mining process (for example, the crushing process by the crusher machine). If it is not leveled, it is necessary to prepare a crusher machine corresponding to the maximum production capacity. As described above, if one drift DR becomes inoperable, the maximum production capacity cannot be obtained, and the crusher machine will be idle, resulting in waste. By leveling, there is no waste.
- Production volume also varies depending on vehicle allocation parameters. For example, if a plurality of transporting machines 10 arrive at one OR path OP at a time, a traffic jam occurs, and as a result, the production amount may decrease. Further, if a plurality of transporting machines 10 arrive at one loading place LA at a time, traffic jams may occur, resulting in a decrease in productivity. Therefore, the movement routes of the plurality of transport machines 10 are adjusted so that the occurrence of traffic jams or the like is suppressed, or a plurality of ore passes OP (OPa, OPb) among a plurality of ore passes (for example, ore pass OPa).
- OPa, OPb a plurality of ore passes
- Selection of the ore pass OP to which each of the plurality of transporting machines 10 is directed is performed so that the transporting machines 10 are not flooded. Moreover, selection of the loading place LA which each of the several conveyance machine 10 heads is performed so that the several conveyance machine 10 may not rush to one loading place LA.
- the occurrence of traffic congestion and the like is also suppressed by adjusting the circulation direction (clockwise or counterclockwise). Moreover, the occurrence of traffic jams is also suppressed by adjusting the traveling speed, acceleration, and deceleration of each of the plurality of transporting machines 10.
- road maintenance costs vary depending on the dispatch parameters. For example, if the transport machine 10 passes through one drift DR many times, the damage amount of the drift DR increases. Therefore, when the road maintenance-saving cost mode (m1) is selected, the transport machine 10 does not pass through one drift DR so that the number of times the transport machine 10 passes through the four drift DRs is averaged. In addition, a dispatch parameter is determined. On the other hand, if the number of passes of the transporting machine 10 is averaged for the four drift DRs, the production amount may decrease. Therefore, when the maximum production mode (p1) is selected, the dispatch parameter is determined without considering the averaging of the number of passes of the transporting machine 10 in order to improve the production amount.
- the maintenance cost of the transporting machine 10 and the loading machine 30 varies depending on the dispatch parameter. For example, when the vehicle is allocated so that the operating rates of the transporting machine 10 and the loading machine 30 are maximized, the moving distance of the transporting machine 10 and the loading machine 30 becomes long. Therefore, when the maintenance cost mode (m2) of the transporting machine 10 and the loading machine 30 is selected, the vehicle allocation parameter is determined so that the moving distance of the transporting machine 10 and the loading machine 30 is shortened. On the other hand, when the moving distance of the transport machine 10 and the loading machine 30 is shortened, the production amount may be reduced. Therefore, when the production maximum mode (p1) is selected, the vehicle allocation parameter is determined so that the moving distance between the transporting machine 10 and the loading machine 30 is increased in order to improve the production quantity.
- Table 1 shows the relationship between work parameters, work parameters of the loading machine 30 and work parameters of the transport machine 10.
- the management system 1 changes both the work parameters of the transport machine 10 and the work parameters of the loading machine 30 based on the selected work mode (p1, p2, e, m1, m2). .
- the management system 1 changes the work parameters of the transport machine 10 and the work parameters of the loading machine 30 at the same time. For example, when an input signal indicating the energy saving mode (e) is input via the input device 9 for the underground mine MI that is working in the maximum production mode (p1), the management device 3 uses the operation parameters of the transporting machine 10. At the same time as reducing a certain traveling speed, the feeder speed, which is an operation parameter of the loading machine 30, is reduced.
- the input device 9 is operated by the administrator to set the work mode.
- the setting of the work mode includes at least one of a new setting, a resetting, and a setting for changing.
- an input signal indicating the energy saving mode (e) is input to the processing device 3C via the input device 9 for the underground mine MI that is working in the maximum production mode (p1) (step SP1).
- the processing apparatus 3C sets the work mode of the underground mine MI to the energy saving mode (e) based on the input signal (step SP2).
- the processing device 3 ⁇ / b> C allows the work parameter of the transport machine 10 to achieve the target value “$ / t” and the target value “t / h” that are determined in advance in accordance with the energy saving mode (e). And the working parameter of the loading machine 30 is determined (step SP3).
- the management device 3 transmits the work parameters determined by the processing device 3C to the plurality of loading machines 30 and the plurality of transporting machines 10 in the underground mine via the wireless communication device 4 (step SP4).
- the control device 75 (see FIG. 17 and the like) of the loading machine 30 receives the transmitted work parameter.
- the control device 75 changes the work parameter used before reception to the received new work parameter.
- the control device 75 controls the loading machine 30 with the changed new work parameter (step SP5). For example, the feeder 31 that has been driven at the first feeder speed before receiving a new work parameter is changed to a second feeder speed that is slower than the first feeder speed in order to save energy.
- control device 70 (see FIG. 12 and the like) of the transport machine 10 receives the transmitted work parameter.
- the control device 70 changes the work parameter used before reception to the received new work parameter.
- the control device 70 controls the transporting machine 10 with the changed new work parameter. For example, the transport machine 10 that has been driven at the first travel speed before receiving a new work parameter is changed to a second travel speed that is slower than the first travel speed in order to save energy.
- a plurality of work modes are prepared in advance, and the work mode can be selected according to the request of the administrator. It is possible to work smoothly in a production system that prioritizes various indicators. For example, a mode for reducing costs (energy consumption and maintenance costs) can be set instead of suppressing the production amount according to the demand of the manager.
- the management system 1 causes the loading machine 30 to perform only excavation and loading of the ore MR, and causes the transporting machine 10 to transport only the ore MR. Separate functions. For this reason, the loading machine 30 can concentrate on excavation work and conveyance work, and the conveyance machine 10 can concentrate on conveyance work. That is, the loading machine 30 may not have the function of transporting the ore MR, and the transporting machine 10 may not have the function of excavating and transporting the ore MR. Since the loading machine 30 can specialize in the function of excavation and conveyance, and the conveyance machine 10 can be specialized in the function of conveyance of the ore MR, each function can be exhibited to the maximum. As a result, the mine management system 1 can improve the productivity of the mine M.
- both the work parameter of the transporting machine 10 and the work parameter of the loading machine 30 are changed.
- the situation where the sex is suddenly reduced is avoided.
- the materials handling machine 10 and the loading machine 30 can work appropriately based on the work mode according to a manager's request.
- a plurality of operation modes are determined in consideration of the mining cost ($ / t) per unit weight of the ore MR and the mining amount (t / h) of the ore MR per unit time.
- the work parameters are determined in advance so as to achieve the target value of “$ / t” and the target value of “t / h” corresponding to the selected work mode, and are stored in the storage device 3M. Therefore, the management device 3 achieves the target value of “$ / t” and the target value of “t / h” corresponding to the selected work mode based on the selected work mode and the storage information of the storage device 3M. As such, appropriate working parameters can be determined.
- work modes related to the road surface such as work modes exclusively related to the transporting machine 10 and the loading machine 30 such as productivity-oriented mode and energy saving mode, and maintenance saving modes. And are prepared. Thereby, high productivity can be obtained, suppressing the cost of the whole mine.
- the work parameter of the transport machine 10 and the work parameter of the loading machine 30 are changed at the same time in the work mode setting.
- the work parameters of the transport machine 10 and the work parameters of the loading machine 30 may not be changed at the same time.
- the work parameter of the loading machine 30 may be changed after the work parameter of the transport machine 10 is changed.
- the management device 3 changes the work parameters of the transporting machine 10, After the loading operation of the loading machine 30 is completed, the operation parameters of the loading machine 30 may be changed.
- the control device 70 of the transporting machine 10 and the control device of the loading machine 30. 75 may change the work parameter at the same time or may change the work parameter at different timings.
- the control device of the loading machine 30 75 may change the work parameter immediately after receiving the command signal, or may change the work parameter after receiving the command signal and completing the loading operation.
- the control device 70 of the transport machine 10 may change the work parameter immediately after receiving the command signal,
- the work parameter may be changed after a predetermined time has elapsed after receiving the command signal.
- the loading machine 30 may perform excavation using a bucket having a cutting edge, or may perform loading.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Business, Economics & Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Human Resources & Organizations (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Strategic Management (AREA)
- Economics (AREA)
- Entrepreneurship & Innovation (AREA)
- General Business, Economics & Management (AREA)
- Marketing (AREA)
- Tourism & Hospitality (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Development Economics (AREA)
- Quality & Reliability (AREA)
- Operations Research (AREA)
- Game Theory and Decision Science (AREA)
- Educational Administration (AREA)
- Animal Husbandry (AREA)
- Primary Health Care (AREA)
- Agronomy & Crop Science (AREA)
- Marine Sciences & Fisheries (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
図1は、本実施形態に係る運搬機械10及び積込機械30が稼働する現場の一例を示す模式図である。運搬機械10及び積込機械30は、地下から鉱石を採掘する坑内採掘に使用される。運搬機械10は、坑道Rにおいて積荷を運搬する作業機械の一種であり、積込機械30は、運搬機械10に積荷を積み込む作業機械の一種である。本実施形態においては、ブロックケービング工法により鉱石が採掘される。 <Outline of mining site>
FIG. 1 is a schematic diagram illustrating an example of a site where the
図2は、本実施形態に係る坑内MI及び鉱山の管理システム1の一例を示す模式図である。図3は、図2の一部を拡大した図である。図2及び図3に示すように、鉱脈MGの下方に設置された坑道Rは、第1坑道DRと、第2坑道CRとを含む。坑道Rは、例えば、鉱体MGの内部又は鉱体Mの下方に設置される。坑内MIにおいて、第1坑道DR及び第2坑道CRは、それぞれ複数存在する。第2坑道CRは、それぞれのドローポイントDPと第1坑道DRとを接続する。積込機械30は、第2坑道CRを通ってドローポイントDPに接近することができる。本実施形態において、坑道Rは第3坑道TRを含む。本実施形態において、複数(この例では2本)の第3坑道TRが、複数の第1坑道DRと接続されている。以下の説明において、第1坑道DRを適宜、ドリフトDR、と称し、第2坑道CRを適宜、クロスカットCR、と称し、第3坑道TRを適宜、外周路TR、と称する。 <About the mine>
FIG. 2 is a schematic diagram illustrating an example of the underground mine MI and the
図4及び図5は、積込機械30による地山RMの鉱石MRの掘削及び運搬機械10への鉱石MRの積込を示す図である。積込場所LAのドローポイントDPにおいて、鉱石MRの地山RMが形成される。図4及び図5に示すように、積込機械30は、積込場所LAのクロスカットCR内に設置されて、先端部が鉱石MRの地山RMに貫入してこれを掘削する。積込機械30は、掘削した鉱石MRを、地山RMとは反対側であって、ドリフトDR内に待機している運搬機械10に積載する。ドリフトDR内には、積込機械30に電力を供給する給電ケーブル5が設けられている。 <Ore excavation and transportation>
4 and 5 are diagrams showing excavation of the ore MR of the natural ground RM by the
図6は、本実施形態に係る管理装置3の一例を示す機能ブロック図である。管理装置3は、処理装置3Cと、記憶装置3Mと、入出力部(I/O)3IOとを有する。管理装置3の入出力部3IOに、出力装置としての表示装置8と、入力装置9と、通信装置3Rとが接続されている。管理装置3は、例えば、コンピュータである。処理装置3Cは、例えば、CPU(Central Processing Unit)である。記憶装置3Mは、例えば、RAM(Random Access Memory)、ROM(Read Only Memory)、フラッシュメモリ若しくはハードディスクドライブ等又はこれらを組み合わせたものである。入出力部3IOは、処理装置3Cと、処理装置3Cの外部に接続する表示装置8、入力装置9及び通信装置3Rとの情報の入出力(インターフェース)に用いられる。 <Management device>
FIG. 6 is a functional block diagram illustrating an example of the
図7は、本実施形態に係る運搬機械10の一例を示す斜視図である。図8は、本実施形態に係る運搬機械10の側面図である。運搬機械10は、車体10Bと、ベッセル11と、車輪12A、12Bとを含む。さらに、運搬機械10は、蓄電器としての蓄電器14と、アンテナ15と、撮像装置16A、16Bと、非接触センサ17A、17Bとを有している。車輪12A、12Bは、車体10Bの前後にそれぞれ取り付けられる。本実施形態において、車輪12A、12Bは、図8に示す、車体10B内に搭載された電動機13A、13Bによって駆動される。このように、運搬機械10は、すべての車輪12A、12Bが駆動輪となる。また、本実施形態において、車輪12A、12Bは、それぞれ操舵輪となる。本実施形態において、車輪12A、12Bは、例えば、ソリッドタイヤである。このようにすることで、車輪12A、12Bが小径となるので、運搬機械10の高さが抑制される。運搬機械10は、車輪12Aから車輪12Bの方向及び車輪12Bから車輪12Aの方向のいずれにも走行することができる。車輪12A、12Bは、ソリッドタイヤに限定されるものではなく、例えば、空気入りタイヤ等であってもよい。また、車輪12A、12Bのうち、一方のみが駆動輪であってもよい。 <Transport machine>
FIG. 7 is a perspective view illustrating an example of the
図13は、本実施形態に係る積込機械30の側面図である。図14は、本実施形態に係る積込機械30の上面図である。図15は、本実施形態に係る積込機械30の正面図である。図13は、積込機械30が地山RMの鉱石MRを掘削し、掘削した鉱石MRを搬送する状態を示している。積込機械30は、クロスカットCR内で鉱石MRの地山RMを掘削し、掘削した鉱石MRを図7及び図8等に示す運搬機械10のベッセル11に積載する。積込機械30の車体30Bには、フィーダー31と、支持機構32と、走行装置34と、貫入部材35と、回転体36と、岩石ガード37とが取り付けられる。貫入部材35が取り付けられている側が積込機械30の前方であり、貫入部材35が取り付けられている側とは反対側が積込機械30の後方である。なお、積込機械30は、回転体36及び岩石ガード37を備えていなくてもよい。 <Loading machine>
FIG. 13 is a side view of the
図19は、本実施形態に係る鉱山の管理システム1において、運搬機械10が坑内MIのドリフトDRを進行する方向を示す図である。以下の説明において、坑内MIに設けられた複数のドリフトDR、複数の外周路TR、複数のドローポイントDP又は複数のオアパスOPを区別する場合には、符号DR、符号TR、符号DP又は符号OPに符号a、b等を付す。複数のドリフトDR、複数の外周路TR、複数のドローポイントDP及び複数のオアパスOPを区別しない場合、符号a、b等は付さない。 <Route that transport machine travels>
FIG. 19 is a diagram illustrating a direction in which the transporting
(1)パターン1:ドリフトDRa、外周路TRa、ドリフトDRf、外周路TRb、
(2)パターン2:ドリフトDRa、外周路TRa、ドリフトDRe、外周路TRb、
(3)パターン3:ドリフトDRa、外周路TRa、ドリフトDRd、外周路TRb、
(4)パターン4:ドリフトDRb、外周路TRa、ドリフトDRf、外周路TRb、
(5)パターン5:ドリフトDRb、外周路TRa、ドリフトDRe、外周路TRb、
(6)パターン6:ドリフトDRb、外周路TRa、ドリフトDRd、外周路TRb、
(7)パターン7:ドリフトDRc、外周路TRa、ドリフトDRf、外周路TRb、
(8)パターン8:ドリフトDRc、外周路TRa、ドリフトDRe、外周路TRb、
(9)パターン9:ドリフトDRc、外周路TRa、ドリフトDRd、外周路TRb、
の9パターンある。 In the
(1) Pattern 1: Drift DRa, outer periphery TRa, drift DRf, outer periphery TRb,
(2) Pattern 2: Drift DRa, outer circumference TRa, drift DRe, outer circumference TRb,
(3) Pattern 3: Drift DRa, outer circumference TRa, drift DRd, outer circumference TRb,
(4) Pattern 4: drift DRb, outer periphery TRa, drift DRf, outer periphery TRb,
(5) Pattern 5: drift DRb, outer periphery TRa, drift DRe, outer periphery TRb,
(6) Pattern 6: Drift DRb, outer periphery TRa, drift DRd, outer periphery TRb,
(7) Pattern 7: drift DRc, outer periphery TRa, drift DRf, outer periphery TRb,
(8) Pattern 8: drift DRc, outer periphery TRa, drift DRe, outer periphery TRb,
(9) Pattern 9: drift DRc, outer periphery TRa, drift DRd, outer periphery TRb,
There are 9 patterns.
次に、本実施形態に係る管理システム1による鉱山Mの管理方法について説明する。鉱山においては、様々な指標を基準とする生産体制で作業を行いたいという要望がある。例えば、単位時間当たりの鉱石MRの採掘量(生産量)の指標を重視して作業を行いたい場合がある。運搬機械10及び積込機械30のエネルギー消費量の指標を重視して作業を行いたい場合がある。坑内MIの路面、積込機械30、及び運搬機械10のメンテナンス費用の指標を重視して作業を行いたい場合がある。 <Setting the working mode in the mine>
Next, the management method of the mine M by the
(p1)生産量最大モード(生産量重視モード)、
(p2)生産量平準モード(生産量重視モード)、
(e)省エネルギーモード、
(m1)路面の省メンテナンス費モード、
(m2)運搬機械10及び積込機械30の省メンテナンス費モード、
の5つの作業モードが用意されている。 That is, in this embodiment,
(P1) Production maximum mode (production priority mode),
(P2) Production volume leveling mode (production volume priority mode),
(E) Energy saving mode,
(M1) Road maintenance cost saving mode,
(M2) The maintenance cost mode of the transporting
There are five working modes.
3 管理装置
3C 処理装置
3M 記憶装置
5 給電ケーブル
10 運搬機械
10B 車体
11 ベッセル
12A、12B 車輪
14 蓄電器
24 駆動制御装置
30 積込機械
30B 車体
31 フィーダー
32 支持機構
33 回転ローラー
34 走行装置
35 貫入部材
36 回転体
40、41 情報収集装置
48 駆動制御装置
70、75 制御装置
71、76 処理装置
72、77 記憶装置
80 切替機構
90 蓄電器保持装置
CR クロスカット(第2坑道)
CD、CDa、CDb 周回路
DP、DPa、DPb、DPc、DPe ドローポイント(採掘場所)
DR、DRa、DRb、DRc、DRd、DRe、DRf ドリフト(第1坑道)
EX 蓄電器交換装置
OP、OPa、OPb オアパス(排土場所)
RM 地山
TR、TRa、TRb 外周路(第3坑道) DESCRIPTION OF
CD, CDa, CDb Peripheral circuit DP, DPa, DPb, DPc, DPe Draw point
DR, DRa, DRb, DRc, DRd, DRe, DRf Drift (1st tunnel)
EX Capacitor exchange device OP, OPa, OPb ORPASS
RM Ground mountain TR, TRa, TRb Peripheral road (3rd tunnel)
Claims (5)
- 鉱山の坑内の採掘場所から排土場所まで鉱石を積載して走行する運搬機械と、
前記採掘場所で前記鉱石を採掘して前記運搬機械に積み込む積込機械と、
入力信号に基づいて前記坑内の作業モードを設定して、前記運搬機械の作業パラメータ及び前記積込機械の作業パラメータを変更する管理装置と、
を備える鉱山の管理システム。 A transport machine that loads and travels ore from the mining site to the earthing site in the mine,
A loading machine for mining the ore at the mining site and loading it on the transporting machine;
A management device that sets a work mode in the mine based on an input signal and changes a work parameter of the transport machine and a work parameter of the loading machine,
Mine management system with - 前記作業モードは、前記鉱石の単位重量当たりの採掘コスト、及び単位時間当たりの前記鉱石の採掘量を考慮して複数定められ、
前記管理装置は、前記入力信号に基づいて、複数の前記作業モードから1つの作業モードを設定する請求項1に記載の鉱山の管理システム。 A plurality of the operation modes are determined in consideration of the mining cost per unit weight of the ore and the mining amount of the ore per unit time,
The mine management system according to claim 1, wherein the management device sets one work mode from the plurality of work modes based on the input signal. - 前記作業モードは、単位時間当たりの前記鉱石の生産量を優先する生産量重視モードと、前記運搬機械及び前記積込機械のエネルギー消費量の抑制を優先する省エネルギーモードと、前記坑内の路面、前記積込機械、及び前記運搬機械のメンテナンス費用の抑制を優先する省メンテナンス費モードと、を含む請求項1又は請求項2に記載の鉱山の管理システム。 The work mode includes a production amount priority mode that prioritizes the production amount of the ore per unit time, an energy saving mode that prioritizes suppression of energy consumption of the transporting machine and the loading machine, a road surface in the mine, The mine management system according to claim 1, further comprising: a loading machine, and a maintenance-saving cost mode that prioritizes suppression of maintenance costs of the transporting machine.
- 前記運搬機械の作業パラメータは、前記坑内における前記運搬機械の走行速度、加速度、前記鉱石の積載量、前記積込場所又は前記排土場所に移動するまでの移動経路、及び複数の積込場所及び排土場所のうち前記運搬機械が向かう積込場所及び排土場所の選択の少なくとも一つを含む請求項1から請求項3のいずれか一項に記載の鉱山の管理システム。 The working parameters of the transporting machine are: traveling speed of the transporting machine in the mine, acceleration, loading amount of the ore, a movement route to move to the loading place or the earthing place, and a plurality of loading places, The mine management system according to any one of claims 1 to 3, comprising at least one of a loading place and an earthing place to which the transporting machine is directed among the earthing places.
- 前記積込機械の作業パラメータは、前記坑内における前記積込機械の走行速度、前記運搬機械に対する前記鉱石の積み込み速度、及び掘削力の少なくとも一つを含む請求項1から請求項4のいずれか一項に記載の鉱山の管理システム。 The working parameter of the loading machine includes at least one of a traveling speed of the loading machine in the mine, a loading speed of the ore to the transporting machine, and an excavation force. The mine management system described in the section.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/300,375 US10240457B2 (en) | 2014-03-31 | 2015-02-06 | Mine management system |
JP2016511425A JP6416882B2 (en) | 2014-03-31 | 2015-02-06 | Mine management system |
CA2944404A CA2944404C (en) | 2014-03-31 | 2015-02-06 | Mine management system |
AU2015241937A AU2015241937B2 (en) | 2014-03-31 | 2015-02-06 | Mine management system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014074559 | 2014-03-31 | ||
JP2014-074559 | 2014-03-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015151583A1 true WO2015151583A1 (en) | 2015-10-08 |
Family
ID=54239923
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2015/053429 WO2015151583A1 (en) | 2014-03-31 | 2015-02-06 | Mine management system |
Country Status (5)
Country | Link |
---|---|
US (1) | US10240457B2 (en) |
JP (1) | JP6416882B2 (en) |
AU (1) | AU2015241937B2 (en) |
CA (1) | CA2944404C (en) |
WO (1) | WO2015151583A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020052835A (en) * | 2018-09-27 | 2020-04-02 | 日立建機株式会社 | Road surface management system |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180108094A1 (en) * | 2016-10-14 | 2018-04-19 | Caterpillar Inc. | Operating methods and systems for underground mining |
WO2018191602A1 (en) * | 2017-04-13 | 2018-10-18 | Joy Global Underground Mining Llc | System and method for measuring and aligning roof bolts |
JP6824856B2 (en) * | 2017-09-29 | 2021-02-03 | 株式会社小松製作所 | Display control device and display control method |
US10995615B2 (en) * | 2018-07-03 | 2021-05-04 | Caterpillar Inc. | Method for optimizing mining production |
US11718504B2 (en) | 2019-05-28 | 2023-08-08 | His Majesty The King In Right Of Canada, As Represented By The Minister Of Natural Resources | Inertial analyzer for vertical mining conveyances and method thereof |
CN110456745B (en) * | 2019-07-29 | 2022-08-23 | 湖南大学 | Full-automatic underground mining transportation system |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007144255A (en) * | 2005-11-24 | 2007-06-14 | Komatsu Ltd | Crusher |
JP2011220104A (en) * | 2011-05-12 | 2011-11-04 | Komatsu Ltd | Moving body management device |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI115414B (en) | 2003-07-03 | 2005-04-29 | Sandvik Tamrock Oy | Arrangement for monitoring the location of a mine vehicle in a mine |
US8090491B2 (en) * | 2005-07-26 | 2012-01-03 | Macdonald Dettwiler & Associates Inc. | Guidance, navigation, and control system for a vehicle |
US8099217B2 (en) | 2007-08-31 | 2012-01-17 | Caterpillar Inc. | Performance-based haulage management system |
WO2010043967A1 (en) * | 2008-10-17 | 2010-04-22 | Frank Wegner Donnelly | Rail conveyance system for mining |
US8868302B2 (en) | 2010-11-30 | 2014-10-21 | Caterpillar Inc. | System for autonomous path planning and machine control |
US8583361B2 (en) * | 2011-08-24 | 2013-11-12 | Modular Mining Systems, Inc. | Guided maneuvering of a mining vehicle to a target destination |
SE537371C2 (en) * | 2011-11-18 | 2015-04-14 | Atlas Copco Rock Drills Ab | Method and apparatus for operating a mining and / or construction machine |
US10502727B2 (en) * | 2012-02-28 | 2019-12-10 | CiDRA Corporate Services LLP | Acoustic monitoring of block caving |
JP6261157B2 (en) * | 2012-03-15 | 2018-01-17 | 株式会社小松製作所 | Mining machine operation management system and mining machine operation management method |
JP5913603B2 (en) * | 2012-09-21 | 2016-04-27 | 日立建機株式会社 | Self-propelled mining machine operation management device |
WO2014206471A1 (en) * | 2013-06-27 | 2014-12-31 | Sandvik Mining And Construction Oy | Arrangement for controlling percussive drilling process |
WO2015106799A1 (en) * | 2014-01-14 | 2015-07-23 | Sandvik Mining And Construction Oy | Mine vehicle, mine control system and mapping method |
-
2015
- 2015-02-06 WO PCT/JP2015/053429 patent/WO2015151583A1/en active Application Filing
- 2015-02-06 JP JP2016511425A patent/JP6416882B2/en active Active
- 2015-02-06 AU AU2015241937A patent/AU2015241937B2/en active Active
- 2015-02-06 CA CA2944404A patent/CA2944404C/en active Active
- 2015-02-06 US US15/300,375 patent/US10240457B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007144255A (en) * | 2005-11-24 | 2007-06-14 | Komatsu Ltd | Crusher |
JP2011220104A (en) * | 2011-05-12 | 2011-11-04 | Komatsu Ltd | Moving body management device |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020052835A (en) * | 2018-09-27 | 2020-04-02 | 日立建機株式会社 | Road surface management system |
Also Published As
Publication number | Publication date |
---|---|
CA2944404C (en) | 2018-12-04 |
JPWO2015151583A1 (en) | 2017-04-13 |
JP6416882B2 (en) | 2018-10-31 |
AU2015241937B2 (en) | 2018-02-08 |
US20170138193A1 (en) | 2017-05-18 |
US10240457B2 (en) | 2019-03-26 |
AU2015241937A1 (en) | 2016-10-20 |
CA2944404A1 (en) | 2015-10-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6416882B2 (en) | Mine management system | |
JP6321935B2 (en) | Mining system | |
WO2015046609A1 (en) | Transport machine | |
WO2015046598A1 (en) | Transportation machine | |
EP3040236A1 (en) | Transport machine and management system | |
JP6297807B2 (en) | Mine management system | |
JP6359817B2 (en) | Mine management system | |
WO2015151734A1 (en) | Mine management system | |
JP2015068142A (en) | Loader | |
WO2015046612A1 (en) | Loading machine | |
WO2015046597A1 (en) | Loading machine | |
WO2015046590A1 (en) | Loading machine |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15773762 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2016511425 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2944404 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15300375 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2015241937 Country of ref document: AU Date of ref document: 20150206 Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 15773762 Country of ref document: EP Kind code of ref document: A1 |